Padé approximation of delays in cooperative ACC based on string stability requirements

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Cooperative adaptive cruise control (CACC) improves road throughput by employing intervehicle wireless communications. The inherent communication time delay and vehicle actuator delay significantly limit the minimum intervehicle distance in view of string stability requirements. Hence, controller design needs to consider both delays, which result in a nonrational transfer function representation of the CACC-controlled string. Padé approximations can be applied to arrive at a finite-dimensional model, which allows for many standard control methods. Our objective is to provide a method to decide for the lowest possible order of the Padé approximation, which is sufficiently accurate in view of CACC (string) stability analysis. The constant time gap strategy and a one-vehicle look-ahead topology are adopted to develop a CACC stable string. First, based on the stable controller parameter region, a suitable order of Padé approximations of the vehicle actuator delay can been carried out in view of individual vehicle stability. Then, the minimum string-stable time gaps for a CACC system with both exact and approximated delays have been compared. The procedure with a Proportional-derivative controller to choose the approximation order of delays has been given, followed by the time-domain simulation validation.
Originele taal-2Engels
Pagina's (van-tot)277-286
Aantal pagina's10
TijdschriftIEEE Transactions on Intelligent Vehicles
Volume1
Nummer van het tijdschrift3
DOI's
StatusGepubliceerd - 1 sep 2016

Vingerafdruk

Adaptive cruise control
Controllers
Actuators
Communication
Transfer functions
Time delay
Throughput
Topology
Derivatives
Control systems

Trefwoorden

  • actuators, delays, PD control, stability criteria, thermal stability, wireless communication, cooperative adaptive cruise control (CACC), Pade approximation, string stability, wireless communication delay

Citeer dit

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title = "Pad{\'e} approximation of delays in cooperative ACC based on string stability requirements",
abstract = "Cooperative adaptive cruise control (CACC) improves road throughput by employing intervehicle wireless communications. The inherent communication time delay and vehicle actuator delay significantly limit the minimum intervehicle distance in view of string stability requirements. Hence, controller design needs to consider both delays, which result in a nonrational transfer function representation of the CACC-controlled string. Padé approximations can be applied to arrive at a finite-dimensional model, which allows for many standard control methods. Our objective is to provide a method to decide for the lowest possible order of the Padé approximation, which is sufficiently accurate in view of CACC (string) stability analysis. The constant time gap strategy and a one-vehicle look-ahead topology are adopted to develop a CACC stable string. First, based on the stable controller parameter region, a suitable order of Padé approximations of the vehicle actuator delay can been carried out in view of individual vehicle stability. Then, the minimum string-stable time gaps for a CACC system with both exact and approximated delays have been compared. The procedure with a Proportional-derivative controller to choose the approximation order of delays has been given, followed by the time-domain simulation validation.",
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Padé approximation of delays in cooperative ACC based on string stability requirements. / Xing, H.; Ploeg, J.; Nijmeijer, H.

In: IEEE Transactions on Intelligent Vehicles, Vol. 1, Nr. 3, 01.09.2016, blz. 277-286.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

TY - JOUR

T1 - Padé approximation of delays in cooperative ACC based on string stability requirements

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AU - Nijmeijer, H.

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N2 - Cooperative adaptive cruise control (CACC) improves road throughput by employing intervehicle wireless communications. The inherent communication time delay and vehicle actuator delay significantly limit the minimum intervehicle distance in view of string stability requirements. Hence, controller design needs to consider both delays, which result in a nonrational transfer function representation of the CACC-controlled string. Padé approximations can be applied to arrive at a finite-dimensional model, which allows for many standard control methods. Our objective is to provide a method to decide for the lowest possible order of the Padé approximation, which is sufficiently accurate in view of CACC (string) stability analysis. The constant time gap strategy and a one-vehicle look-ahead topology are adopted to develop a CACC stable string. First, based on the stable controller parameter region, a suitable order of Padé approximations of the vehicle actuator delay can been carried out in view of individual vehicle stability. Then, the minimum string-stable time gaps for a CACC system with both exact and approximated delays have been compared. The procedure with a Proportional-derivative controller to choose the approximation order of delays has been given, followed by the time-domain simulation validation.

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