Title: Robust cooperative adaptive cruise control design and implementation for connected vehicles

Authors: Mark Trudgen; Rebecca Miller; Javad Mohammadpour Velni

Addresses: School of Electrical and Computer Engineering, College of Engineering, University of Georgia, Athens, GA, USA ' School of Electrical and Computer Engineering, College of Engineering, University of Georgia, Athens, GA, USA ' School of Electrical and Computer Engineering, College of Engineering, University of Georgia, Athens, GA, USA

Abstract: Cooperative adaptive cruise control (CACC) is a developing technology that achieves reduced inter-vehicle distance following in order to increase roadway capacity. CACC provides much lower headway values than adaptive cruise control (ACC) or human drivers can; however, this relies on real-time acceleration data, which inherently has inexact timing. In order to implement a string stable CACC platoon following scheme, meaning that disturbances are attenuated down the stream of the platoon of vehicles, while also overcoming the inherent challenges of wireless communication and uncertain internal model parameters, we design an H_∞ controller that is robust to all aforementioned uncertainties. We implement this controller on a laboratory-scale test bed with an anti-windup compensation scheme and particularly show that the controller design is able to account for communication shortcomings.

Keywords: cooperative adaptive cruise control; CACC; robust H_∞ control; anti windup; loop shaping; platoon following; wireless communication; cyber physical systems; CPSs.

DOI: 10.1504/IJAAC.2018.095068

International Journal of Automation and Control, 2018 Vol.12 No.4, pp.469 - 494

Received: 26 Dec 2016
Accepted: 11 Mar 2017
Published online: 01 Oct 2018 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article