Print Email Facebook Twitter Cooperative adaptive cruise control: An artificial potential field approach Title Cooperative adaptive cruise control: An artificial potential field approach Author Semsar-Kazerooni, E. Verhaegh, J. Ploeg, J. Alirezaei, M. Publication year 2016 Abstract In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system. Subject Fluid & Solid MechanicsIVS - Integrated Vehicle SafetyTS - Technical SciencesTrafficIndustrial InnovationVelocity controlAdaptive controlCollision avoidanceControl system synthesisCooperative systemsNonlinear control systemsRoad traffic controlRoad vehicles To reference this document use: http://resolver.tudelft.nl/uuid:7f43f725-83c5-4e47-ab30-2d05b177fa2d DOI https://doi.org/10.1109/ivs.2016.7535411 TNO identifier 572373 Publisher Institute of Electrical and Electronics Engineers Inc. ISBN 9781509018215 Source 2016 IEEE Intelligent Vehicles Symposium, IV 2016, 19 June 2016 through 22 June 2016, 361-367 Article number 7535411 Document type conference paper Files To receive the publication files, please send an e-mail request to TNO Library.