A novel supervised Actor–Critic (SAC) approach for adaptive cruise control (ACC) problem is proposed in this paper. The key elements required by the SAC algorithm namely Actor and Critic, are approximated by feed-forward neural networks respectively. The output of Actor and the state are input to Critic to approximate the performance index function. A Lyapunov stability analysis approach has be...

Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicl...

There is a broad range of diverse technologies under the generic topic of intelligent transportation systems (ITS) that holds the answer to many of the transportation problems. In this paper, one approach to ITS is presented. One of the most important research topics in this field is adaptive cruise control (ACC). The main features of this kind of controller are the adaptation of the speed of t...

Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To support the driver in tracking of the energy optimal velocity trajectory, automatic cruise control is a...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed in the continuous-time domain and captures the real dynamics of the sub-vehicle models for steady-state and transient operations. A parametric study for the ...

Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication to allow for automatic vehicle following at small intervehicle distances while guaranteeing string stability. Inherent to the CACC concept, however, is its vulnerability to communication impairments, among which latency of the wireless link, which compromise string stability and, hence, safety. To investigate...

Vehicle and highway automation is believed to reduce the risk of accident, improve safety, increase capacity, reduce fuel consumption and enchance overall comfort and performance for drivers. One of the most important research topics in the field of Intelligent Transportation Systems (ITS) is Adaptive Cruise Control (ACC), aiming at adapting the vehicle speed to a predefined value while keeping...

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...