Predictor-Based Adaptive Cruise Control Design

The authors develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for the compensation of large actuator and sensor delays in vehicular systems utilizing measurements of the relative spacing as well as of the speed and the short-term history of the desired acceleration of the ego vehicle. By employing an input–output approach, they show that the predictor-based adaptive cruise control law with integral action guarantees all of the four typical performance specifications of adaptive cruise control designs, namely, 1) stability, 2) zero steady-state spacing error, 3) string stability, and 4) non-negative impulse response, despite the large input delay. The effectiveness of the developed control design is shown in simulation considering various performance metrics.


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  • Accession Number: 01684728
  • Record Type: Publication
  • Files: TLIB, TRIS
  • Created Date: Oct 4 2018 2:12PM