Adaptive Feedforward Compensator Based on Approximated Causal Transfer Function for CACC with Communication Delay
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Dae Jung | - |
dc.contributor.author | Il, Kim Hyeong | - |
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-07T20:17:26Z | - |
dc.date.available | 2022-07-07T20:17:26Z | - |
dc.date.created | 2021-12-08 | - |
dc.date.issued | 2020-07 | - |
dc.identifier.issn | 2405-8963 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/145367 | - |
dc.description.abstract | In this paper, we propose an adaptive feedforward compensator using parameter estimation to compensate for the communication time delay in cooperative adaptive cruise control (CACC). When CACC uses a feedforward controller to improve tracking performance and satisfy the string stability, it should take into account the communication delay between vehicles. Padé approximation of the time delay can be used for the design of feedforward compensator, but there is a limitation since the approximated system becomes the non-minimum system. To cope with this inherent non-causality problem, we propose an approximated causal transfer function for the feedforward compensator. Then, we apply extended Kalman filter as one of parameter estimation methods with a nonlinear model from the state augmented by a parameter of the approximated causal transfer function. Numerical simulation results show that the proposed system not only mitigates spacing error in time-varying communication delay but also satisfies string stability in a platoon. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Elsevier B.V. | - |
dc.title | Adaptive Feedforward Compensator Based on Approximated Causal Transfer Function for CACC with Communication Delay | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.1016/j.ifacol.2020.12.2296 | - |
dc.identifier.scopusid | 2-s2.0-85119591119 | - |
dc.identifier.bibliographicCitation | IFAC-PapersOnLine, v.53, no.2, pp.15192 - 15197 | - |
dc.relation.isPartOf | IFAC-PapersOnLine | - |
dc.citation.title | IFAC-PapersOnLine | - |
dc.citation.volume | 53 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 15192 | - |
dc.citation.endPage | 15197 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Adaptive cruise control | - |
dc.subject.keywordPlus | Cooperative communication | - |
dc.subject.keywordPlus | Delay control systems | - |
dc.subject.keywordPlus | Extended Kalman filters | - |
dc.subject.keywordPlus | Parameter estimation | - |
dc.subject.keywordPlus | Time delay | - |
dc.subject.keywordPlus | Transfer functions | - |
dc.subject.keywordPlus | Vehicles | - |
dc.subject.keywordPlus | Adaptive feedforward | - |
dc.subject.keywordPlus | Communication delays | - |
dc.subject.keywordPlus | Cooperative adaptive cruise control | - |
dc.subject.keywordPlus | Feed-forward compensator | - |
dc.subject.keywordPlus | Heterogeneous vehicles | - |
dc.subject.keywordPlus | Parameters estimation | - |
dc.subject.keywordPlus | String stability | - |
dc.subject.keywordPlus | V2V communications | - |
dc.subject.keywordPlus | Vehicle to vehicles | - |
dc.subject.keywordPlus | Vehicle-to-vehicle (V2V) communication | - |
dc.subject.keywordPlus | Vehicle to vehicle communications | - |
dc.subject.keywordAuthor | Communication delay | - |
dc.subject.keywordAuthor | Cooperative adaptive cruise control | - |
dc.subject.keywordAuthor | Extended Kalman filter | - |
dc.subject.keywordAuthor | Heterogeneous vehicles | - |
dc.subject.keywordAuthor | Parameter estimation | - |
dc.subject.keywordAuthor | vehicle-to-vehicle (V2V) communication | - |
dc.identifier.url | https://www.sciencedirect.com/science/article/pii/S2405896320329566?via%3Dihub | - |
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