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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/24128F05-64DE-4B7E-A9AC-351A57129F90 | ||
| Year | 2017 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | N. Bekiaris-Luberis, C. Roncoli and Markos Papageorgiou, "Predictor-based adaptive cruise control design", IEEE Trans. Intell. Transp. Syst., vol. pp, no. 99, pp. 1-15, Dec . 2017. doi:10.1109/TITS.2017.2771501 https://doi.org/10.1109/TITS.2017.2771501 | ||
| Appears in Collections |
We 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, we 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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