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Electrical Engineering and Systems Science > Systems and Control

arXiv:2205.14567 (eess)
[Submitted on 29 May 2022 (v1), last revised 18 Nov 2022 (this version, v2)]

Title:Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Authors:Tamas G. Molnar, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gabor Orosz
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Abstract:Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations.
Comments: Accepted to the 17th IFAC Workshop on Time Delay Systems. 6 pages, 3 figures
Subjects: Systems and Control (eess.SY); Robotics (cs.RO); Dynamical Systems (math.DS)
Cite as: arXiv:2205.14567 [eess.SY]
  (or arXiv:2205.14567v2 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2205.14567

Submission history

From: Tamas Gabor Molnar [view email]
[v1] Sun, 29 May 2022 03:48:06 UTC (229 KB)
[v2] Fri, 18 Nov 2022 16:48:17 UTC (284 KB)
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