Predictor-based adaptive cruise control designPredictor-based adaptive cruise control design Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2018-03-052017enWe 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.http://creativecommons.org/licenses/by/4.0/IEEE Transactions on Intelligent Transportation SystemsPP991-15 Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Papageorgiou Markos Παπαγεωργιου Μαρκος Roncoli Claudio Roncoli Claudio Institute of Electrical and Electronics Engineers Acceleration Actuators Adaptive cruise control Control design delay systems Delays Numerical stability Predictor feedback Stability criteria String stability