Iso-damping fractional-order control for robust automated car-following
This work deals with the control design and development of an automated car-following strategy that further increases robustness to vehicle dynamics uncertainties. The control algorithm is applied on a hierarchical architecture where high and low level control layers are designed for gap-control and desired acceleration tracking, respectively. A fractional-order controller is proposed due to its flexible frequency shape, fulfilling more demanding design requirements. The iso-damping loop property is sought, which yields a desired closed-loop stability that results invariant despite changes on the controlled plant gain. In addition, the graphical nature of the proposed design approach demonstrates its portability and applicability to any type of vehicle dynamics without complex reconfiguration. The algorithm benefits are validated in frequency and time domains, as well as through experiments on a real vehicle platform performing adaptive cruise control.
- Research Organization:
- Lawrence Berkeley National Laboratory (LBNL), Berkeley, CA (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC); USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office
- Grant/Contract Number:
- AC02-05CH11231
- OSTI ID:
- 1756098
- Alternate ID(s):
- OSTI ID: 1771235
- Journal Information:
- Journal of Advanced Research, Journal Name: Journal of Advanced Research Vol. 25; ISSN 2090-1232
- Publisher:
- ElsevierCopyright Statement
- Country of Publication:
- United States
- Language:
- English
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