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Published February 2020 | public
Journal Article

Robust Design of Connected Cruise Control Among Human-Driven Vehicles


This paper presents the robustness analysis for the head-to-tail string stability of connected cruise controllers that utilize motion information of human-driven vehicles ahead. In particular, we consider uncertainties arising from the feedback gains and reaction time delays of the human drivers. We utilize the linear fractional transformation and the M-Δ uncertain interconnection structure to represent the uncertainties in the block-diagonal matrix Δ. The uncertain gains are directly incorporated in the uncertain interconnection structure, while the uncertain time delays are taken into account using the Rekasius substitution that preserves the tightness of the robustness bounds. This modeling framework scales are well for large-size connected vehicle systems. We demonstrate through two case studies how parameters in the connected cruise controller can be selected to ensure the robust string stability. Theoretical results are supported by the experiments that highlight the advantage of robust control designs.

Additional Information

© 2019 IEEE. Manuscript received April 30, 2018; revised November 6, 2018; accepted January 28, 2019. Date of publication March 5, 2019; date of current version February 3, 2020. The research reported in this paper was supported by the Higher Education Excellence Program of the Ministry of Human Capacities in the frame of Artificial intelligence research area of the Budapest University of Technology and Economics (BME FIKP-MI). The authors would like to thank the Commsignia, Inc. for the technical supports. They also acknowledge the help of Sergei Avedisov, Sándor Beregi, Zsuzsanna Dobránszky, Chaozhe He, Ádám Kiss, Mehdi Sadeghpour, and Henrik Sykora during the experiments.

Additional details

August 19, 2023
October 20, 2023