Name
Abstract | ||
|---|---|---|
This paper investigates sampled-data cooperative adaptive cruise control (CACC) of vehicles with sensor failures. A novel switched sampled-data CACC system model is established, in which the effect of sensor failure is involved. Based on the new model, a design method of state feedback controllers that can robustly stabilize the CACC system is presented via the switched system approach. The obtained controller is complemented by additional conditions that are established for guaranteeing string stability and zero steady-state velocity error, which yields a useful string stable CACC algorithm. Several quantitative relations of parameters, including the sensor complete-failure rate, the system decay rate, and sampling period, are also derived. The effectiveness and advantage of the presented methodology are demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/TITS.2014.2316016 | IEEE Transactions on Intelligent Transportation Systems |
Keywords | DocType | Volume |
sampled-data control,sensor failure,sampled data systems,time-varying systems,state feedback controller design method,robust stabilization,control system synthesis,robust control,automobiles,zero steady-state velocity error,Cooperative adaptive cruise control (CACC),state feedback,sampling period,sampled-data cooperative adaptive cruise control,velocity control,adaptive control,sensor complete-failure rate,exponential stability,string stability,sensor failures,system decay rate,sensors,sampling methods,laboratory-scale Arduino cars,switched sampled-data CACC system model | Journal | 15 |
Issue | ISSN | Citations |
6 | 1524-9050 | 22 |
PageRank | References | Authors |
0.77 | 16 | 2 |