Cooperative adaptive cruise control: An artificial potential field approach

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....

Combined lateral and longitudinal CACC for a unicycle-type platoon

This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look...

Identification and adaptive control scheme using fuzzy parameterized linear filters

A nonlinear fuzzy control structure enhanced with supervised learning and/or adaption is presented. Availability of at least a partial process model is assumed. Nonlinear process identification procedure is used to complete the partial model. Based on the identification model the system sensitivity model is derived which guides the training...

Efficient adaptive fuzzy control scheme

The paper presents an adaptive nonlinear (state-) feedback control structure, where the nonlinearities are implemented as smooth fuzzy mappings defined as rule sets. The fine tuning and adaption of the controller is realized by an indirect adaptive scheme, which modifies the parameters of the fuzzy mapping. The performance index gradients are...