Flores, CarlosMuñoz Yáñez-Barnuevo, JorgeMonje Micharet, Concepción AliciaMilanes, VicenteLu, Xiao-Yun2022-02-072022-02-072020-09Flores, 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, 181–189.2090-1232https://hdl.handle.net/10016/34047This 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.9eng© 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.Atribución-NoComercial-SinDerivadas 3.0 EspañaFractional-order controlAdaptive cruise controlIso-damping stabilityIntelligent transportation systemsresearch articleRobótica e Informática Industrialhttps://doi.org/10.1016/j.jare.2020.05.013open access181189Journal of Advanced Research25AR/0000026404