Padé approximation of delays in CACC-controlled string-stable platoons

H. Xing; J. Ploeg; H. Nijmeijer

Padé approximation of delays in CACC-controlled string-stable platoons

H. Xing, J. Ploeg, H. Nijmeijer

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

261 Downloads (Pure)

Abstract

Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing inter-vehicle wireless communications. The inherent communication time delay significantly limits the minimum intervehicle distance in view of string stability. Applying a Padé approximation leads to a model with a rational transfer function, which allows many control methods to compensate for this delay to a certain extent. Our objective is to find the lowest possible order of Padé approximations, which is sufficiently accurate in view of string stability. To this end, the minimum string-stable time gaps are chosen as the main criterion against which the quality of the Padé approximations is measured. The results indicate that it is feasible to apply a 2nd-order Padé approximation in the given CACC system.

Original language	English
Title of host publication	Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16
Publisher	CRC Press/Balkema
Pages	99-104
Number of pages	6
ISBN (Print)	9781315265285
Publication status	Published - 1 Sept 2016
Event	13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany Duration: 13 Sept 2016 → 16 Sept 2016 Conference number: 13 http://www.avec16.com/

Conference

Conference	13th International Symposium on Advanced Vehicle Control, AVEC 2016
Abbreviated title	AVEC'16
Country/Territory	Germany
City	Munich
Period	13/09/16 → 16/09/16
Internet address	http://www.avec16.com/

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title = "Pad{\'e} approximation of delays in CACC-controlled string-stable platoons",

abstract = "Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing inter-vehicle wireless communications. The inherent communication time delay significantly limits the minimum intervehicle distance in view of string stability. Applying a Pad{\'e} approximation leads to a model with a rational transfer function, which allows many control methods to compensate for this delay to a certain extent. Our objective is to find the lowest possible order of Pad{\'e} approximations, which is sufficiently accurate in view of string stability. To this end, the minimum string-stable time gaps are chosen as the main criterion against which the quality of the Pad{\'e} approximations is measured. The results indicate that it is feasible to apply a 2nd-order Pad{\'e} approximation in the given CACC system.",

author = "H. Xing and J. Ploeg and H. Nijmeijer",

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publisher = "CRC Press/Balkema",

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Padé approximation of delays in CACC-controlled string-stable platoons. / Xing, H.; Ploeg, J.; Nijmeijer, H.
Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16. CRC Press/Balkema, 2016. p. 99-104.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Ploeg, J.

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AB - Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing inter-vehicle wireless communications. The inherent communication time delay significantly limits the minimum intervehicle distance in view of string stability. Applying a Padé approximation leads to a model with a rational transfer function, which allows many control methods to compensate for this delay to a certain extent. Our objective is to find the lowest possible order of Padé approximations, which is sufficiently accurate in view of string stability. To this end, the minimum string-stable time gaps are chosen as the main criterion against which the quality of the Padé approximations is measured. The results indicate that it is feasible to apply a 2nd-order Padé approximation in the given CACC system.

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BT - Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16

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T2 - 13th International Symposium on Advanced Vehicle Control, AVEC 2016

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ER -

Padé approximation of delays in CACC-controlled string-stable platoons

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