Transfer functions with positive impulse response: Feedback controller design and application to cooperative adaptive cruise control

İşler, İbrahim Tayyip
Driver assistance systems are increasingly employed to replace human driver functionality. Cooperative adaptive cruise control (CACC) automates the longitudinal vehicle motion to support safe vehicle following using distance measurements and state information communicated among vehicles. A basic requirement when using CACC is to attenuate fluctuations along vehicle strings, which is captured by the formal condition of string stability. Hereby, different notions of string stability exist in the literature based on different operator norms. In this thesis, a string stability condition based on the L-infinity norm, denoted as strict L1 string stability is used. This condition can be fulfilled by designing a CACC feedback loop, where the input/output behavior of the CACC system has positive impulse response. Accordingly, the main contribution of this thesis is the development of sufficient conditions for achieving a positive impulse response. These conditions are then used to formulate an optimization problem, whose solution provides suitable controller parameters for ensuring strict L1 string stability. The practicability of the proposed method is validated by simulation experiments with realistic vehicle parameters. In addition, it is shown that the proposed method is robust to additional communication delay and actuator delay, which are generally encountered in real-life CACC systems.


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Citation Formats
İ. T. İşler, “Transfer functions with positive impulse response: Feedback controller design and application to cooperative adaptive cruise control,” M.S. - Master of Science, Middle East Technical University, 2021.