Robust CACC in the Presence of Uncertain Delays

Xing, Haitao; Ploeg, Jeroen; Nijmeijer, Henk

doi:10.1109/tvt.2022.3148119

Cited by 25 publications

(6 citation statements)

References 41 publications

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“…ACC and CACC designs, aiming at delay compensation* in vehicular platoons, have been already developed 1,2,6,9–18 . Almost all of these results utilize linear or linearized models for each individual vehicular system, for either control design or stability and string stability analysis.…”

Section: Introductionmentioning

confidence: 99%

“…10 ACC and CACC designs, aiming at delay compensation* in vehicular platoons, have been already developed. 1,2,6,[9][10][11][12][13][14][15][16][17][18] Almost all of these results utilize linear or linearized models for each individual vehicular system, for either control design or stability and string stability analysis. Nevertheless, these models, in certain scenarios, may not be as realistic as nonlinear vehicle models (for both control design and analysis) that may capture additional, lower-level vehicle dynamics.…”

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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: Introductionmentioning

confidence: 99%

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confidence: 99%

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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“…In a two-vehicle cooperative control system, the rear vehicle is arranged to make an accurate following based on the state information obtained by V2V from the preceding vehicle [32]. Driving safety is the primary goal in practice [33] yet is not easy to guarantee, mainly due to unknown driving disturbances like wind drag and road resistance [25], unpredictable road conditions such as road turns [34], and vulnerable communication quality including information delay and packet loss [21], [31].…”

Section: Introductionmentioning

confidence: 99%

“…Reference [9] proposes an adaptive sliding mode controller to handle system uncertainties including actuator saturation, uncertain parameters, and unknown disturbances. [31] introduces µ synthesis robust controller with predictive performance to deal with uncertain communication delay. The uncertain delays are modeled with proper transfer function and the µ synthesis approach is applied for stability-guaranteed controller design.…”

Section: Introductionmentioning

confidence: 99%

“…In terms of the trajectory following, vehicle platoons inevitably drive on curved roads in practice, Existing references usually arrange vehicles to perform lane keeping in the lateral direction independently while achieving speed synchronization in the longitudinal direction based on the state information received through V2V [25], [32]. The exact following distance is calculated in accordance with some constant headway or preset length [17], [25], [31], [34], [38]. Communication delay and information dropout will bring vital damage to the trajectory acquisition.…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

2023

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This paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical integrated control framework is proposed based on disturbance-rejection robust model predictive control (DRRMPC) strategy and optimal control allocation (OCA) approach. The upper layer is a feedforward control layer, where a linear time-varying (LTV) model predictive controller (MPC) produces constrained predictive control towards a nominal model. The time-interval-based reference states are obtained from a "shadow following" trajectory generator through vehicle-to-vehicle (V2V) communication. In the middle layer, the feedback control consisting of a robust controller (RC) and the disturbance compensation out of an extended state observer (ESO), take effect to reconfigure the LTV vehicle model into the nominal model with an off-line calculated constraint tube. The bottom layer performs optimal control allocation among decoupled motor torques and wheel angles towards minimal tire force utilization. Hardware-in-the-Loop (HIL) experiment validates the effectiveness and practicability of the proposed platoon control strategy.

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Robust Speed and Spacing Control Framework for Autonomous Vehicles via µ-synthesis with Descriptor Form Representation

Xu,

Fan,

Chen

et al. 2024

Automot. Innov.

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Robust CACC in the Presence of Uncertain Delays

Cited by 25 publications

References 41 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

Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles

Robust Speed and Spacing Control Framework for Autonomous Vehicles via µ-synthesis with Descriptor Form Representation

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