Iso-damping fractional-order control for robust automated car-following

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dc.contributor.author Flores, Carlos
dc.contributor.author Muñoz Yáñez-Barnuevo, Jorge
dc.contributor.author Monje Micharet, Concepción Alicia
dc.contributor.author Milanes, Vicente
dc.contributor.author Lu, Xiao-Yun
dc.date.accessioned 2022-02-07T08:33:10Z
dc.date.available 2022-02-07T08:33:10Z
dc.date.issued 2020-09
dc.identifier.bibliographicCitation Flores, C., Muñoz, J., Monje, C. A., Milanés, V. & Lu, X. Y. (2020). Iso-damping fractional-order control for robust automated car-following. Journal of Advanced Research, 25, 181–189.
dc.identifier.issn 2090-1232
dc.identifier.uri http://hdl.handle.net/10016/34047
dc.description.abstract 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.
dc.description.sponsorship This research is supported by the Vehicle Technology Office (VTO), U.S. Department of Energy, under the Energy Efficient Mobility Systems (EEMS) initiative of the SMART Mobility Program, through the Lawrence Berkeley National Laboratory. The contents of this paper reflect the views of the authors, who are responsible for the facts and accuracy of the data presented herein.
dc.format.extent 9
dc.language.iso eng
dc.publisher Elsevier
dc.rights © 2020 The Authors. Published by Elsevier B.V. on behalf of Cairo University. This is an open access article under the CC BY-NC-ND license.
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Fractional-order control
dc.subject.other Adaptive cruise control
dc.subject.other Iso-damping stability
dc.subject.other Intelligent transportation systems
dc.title Iso-damping fractional-order control for robust automated car-following
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1016/j.jare.2020.05.013
dc.rights.accessRights openAccess
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 181
dc.identifier.publicationlastpage 189
dc.identifier.publicationtitle Journal of Advanced Research
dc.identifier.publicationvolume 25
dc.identifier.uxxi AR/0000026404
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