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原文传递 Iso-damping fractional-order control for robust automated car-following

题名：	Iso-damping fractional-order control for robust automated car-following
作者：	Carlos Flores## Jorge Muñoz ## Concepción A. Monje ## Vicente Milanés ## Xiao-Yun Lu
关键词：	Fractional-order control##Adaptive cruise control##Iso-damping stability##Intelligent transportation systems
摘要：	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.
总页数：	16
报告类型：	科技报告
发布日期：	2021