Predictor-based adaptive cruise control design with integral actionPredictor-based adaptive cruise control design with integral action Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2018-08-022018enNikolaos Bekiaris-Liberis was supported by the funding from the European Unions Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 747898, project PADECOT. Claudio Roncoli and Markos Papageorgiou were supported by the funding from the European Research Council under the European Union’s Seventh Framework Programme (FP/2007- 2013) / ERC Grant Agreement n. [321132], project TRAMAN21.We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long 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. 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 long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics.Nikolaos Bekiaris-Liberis was supported by the funding from the European Unions Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 747898, project PADECOT. Claudio Roncoli and Markos Papageorgiou were supported by the funding from the European Research Council under the European Union’s Seventh Framework Programme (FP/2007- 2013) / ERC Grant Agreement n. [321132], project TRAMAN21.http://creativecommons.org/licenses/by/4.0/86-9115th IFAC Symposium on Control in Transportation Systems CTS 2018Bekiaris-Liberis_IFAC_2018.pdfChania [Greece]Library of TUC2018-08-02application/pdf1.1 MBdoi.org/10.1016/j.ifacol.2018.07.015https://www.sciencedirect.com/science/article/pii/S2405896318307389free Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Papageorgiou Markos Παπαγεωργιου Μαρκος Roncoli Claudio Roncoli Claudio Elsevier Adaptive cruice control Predictor feedback