Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Molnár, Tamás G.; Alan, Anıl; Ames, Aaron D.; Orosz, Gábor

doi:10.1016/j.ifacol.2022.11.376

Cited by 10 publications

(9 citation statements)

References 8 publications

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“…19,21,22,30,31 Note that in the former case, stabilization at the equilibrium s i = hv i (i.e., at the boundary of the safety region) is achieved from initial conditions such that s i 0 ≥ hv i 0 . While in the present case, because in (33) 1 c 1 < h and since (35) could possibly be satisfied with s i 0 < hv i 0 , initial conditions such that s i 0 < hv i 0 could be considered. Nevertheless, this is dependent also on the initial conditions T i 0 and u i 0 according to (35).…”

Section: Statement Of Main Resultsmentioning

confidence: 96%

“…While in the present case, because in (33) 1 c 1 < h and since (35) could possibly be satisfied with s i 0 < hv i 0 , initial conditions such that s i 0 < hv i 0 could be considered. Nevertheless, this is dependent also on the initial conditions T i 0 and u i 0 according to (35).…”

Section: Statement Of Main Resultsmentioning

confidence: 96%

“…The latter may be viewed more as a theoretical property, in view of the practical aspect of the vehicular systems considered. To guarantee positivity of speed and spacing states during closed-loop operation the initial conditions should satisfy restrictions ( 33)- (35). In particular, conditions ( 33) and ( 35) could be satisfied for a sufficiently large s i 0 ; while (34) could be satisfied further restricting the initial conditions v i 0 , T i 0 , and u i 0 .…”

Section: 4mentioning

confidence: 99%

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Nonlinear predictor‐feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay

Bekiaris‐Liberis

2024

Intl J Robust & Nonlinear

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SummaryWe construct a nonlinear predictor‐feedback cooperative adaptive cruise control (CACC) design for homogeneous vehicular platoons subject to actuators delays, which achieves: (i) positivity of vehicles' speed and spacing states, (ii) string stability of the platoon, (iii) stability of each individual vehicular system, and (iv) regulation to the desired reference speed (dictated by the leading vehicle) and spacing. The design relies on a nominal, nonlinear adaptive cruise control (ACC) law that we construct, which guarantees (i)–(iv) in the absence of actuator delay, and nonlinear predictor feedback. We consider a classical (for ACC/CACC design) third‐order, nonlinear model subject to input delay, for the vehicles' dynamics. The proofs of the theoretical guarantees (i)–(iv) rely on derivation of explicit estimates on solutions (both during open‐loop and closed‐loop operation), capitalizing on the ability of predictor feedback to guarantee complete delay compensation after the dead‐time interval has elapsed, and derivation of explicit conditions on initial conditions and parameters of the nominal control law. We also present consistent simulation results, considering a platoon of ten vehicles, which validate the design developed.

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Section: Statement Of Main Resultsmentioning

confidence: 96%

Section: Statement Of Main Resultsmentioning

confidence: 96%

Section: 4mentioning

confidence: 99%

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Nonlinear predictor‐feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay

Bekiaris‐Liberis

2024

Intl J Robust & Nonlinear

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“…is satisfied, where  ∶=    ∶  ×  → R is the derivative of  along (39) with ̇xt given in (41).…”

Section: Neutral Dynamical Systemsmentioning

confidence: 99%

“…Therefore, the idea of predictor feedback 31‐34 is often used to eliminate the effect of the delay by predicting the future state from the actual state and the input history. Comprehensive literature about safety‐critical control with input delay for various applications can be found in References 35 and 36 for discrete time and in References 8,9,37‐39 for continuous time, while the works in References 40 and 41 include time‐varying and multiple input delays.…”

Section: Introductionmentioning

confidence: 99%

Control barrier functionals: Safety‐critical control for time delay systems

Molnár

Ames

Orosz

2023

Intl J Robust & Nonlinear

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This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced, to attain formal safety guarantees by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.

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Distributed event-triggered constrained control for linear homogeneous vehicle platoons

Gaagai,

Horn

2024

IFAC-PapersOnLine

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Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Cited by 10 publications

References 8 publications

Nonlinear predictor‐feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay

Nonlinear predictor‐feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay

Control barrier functionals: Safety‐critical control for time delay systems

Distributed event-triggered constrained control for linear homogeneous vehicle platoons

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