Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
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1.
California Institute of Technology
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2.
University of Michigan–Ann Arbor
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3.
Budapest University of Technology and Economics
Abstract
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.
Copyright and License
© 2022 The Authors. This is an open access article under the CC BY-NC-ND license.
Funding
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.
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Additional details
Related works
- Is new version of
- Discussion Paper: 10.48550/arXiv.2205.14567 (DOI)
Funding
- National Science Foundation
- CNS-1932091
- AeroVironment (United States)
- Dow Chemical Company
- 227027AT
Dates
- Available
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2022-12-06Published online
- Available
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2022-12-06Version of record