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Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Molnár, Tamás G. and Alan, Anil and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor (2022) Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. . (Unpublished)

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Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Molnár, Tamás G.0000-0002-9379-7121
Alan, Anil0000-0002-9778-8249
Kiss, Adam K.0000-0002-7074-4553
Ames, Aaron D.0000-0003-0848-3177
Orosz, Gábor0000-0002-9000-3736
Additional Information:Attribution 4.0 International (CC BY 4.0) This research is supported by the National Science Foundation (CPS Award #1932091), Aerovironment and Dow (#227027AT). The research reported in this paper and carried out at BME has been supported by the NRDI Fund (TKP2020 NC, Grant No. BME-NCS) based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology.
Funding AgencyGrant Number
Dow Chemical Company227027AT
National Research, Development and Innovation Fund (NKFIA)TKP2020 NC - BME-NCS
Ministry for Innovation and Technology (Hungary)UNSPECIFIED
Subject Keywords:control, safety, time delay, disturbance, connected automated vehicle
Record Number:CaltechAUTHORS:20220714-194311772
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115565
Deposited By: George Porter
Deposited On:15 Jul 2022 22:35
Last Modified:15 Jul 2022 22:35

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