Skip to Main content Skip to Navigation
Conference papers

Online Feedforward/Feedback Structure Adaptation for Heterogeneous CACC Strings

Abstract : Cooperative Adaptive Cruise Control has been extensively studied in recent years, however most of efforts have been oriented to homogeneous strings control. When a heterogeneous string is formed, the differences between vehicles dynamics introduce disturbances in the closed loop system affecting the string stability. This paper presents an online CACC feedforward adaptation with a fractional-order feedback controller for stable heterogeneous strings of vehicles. A particle filter algorithm is employed to perform an online parameter identification over the preceding vehicle longitudinal model, allowing further adaptation of the control structure. Simulations demonstrate the advantages over conventional homogeneous structures as well as system's capability to both enhance stability and guarantee string stability regardless the vehicles distribution.
Document type :
Conference papers
Complete list of metadata

Cited literature [30 references]  Display  Hide  Download
Contributor : Carlos Flores Connect in order to contact the contributor
Submitted on : Wednesday, July 11, 2018 - 11:02:36 AM
Last modification on : Monday, December 14, 2020 - 5:38:23 PM
Long-term archiving on: : Friday, October 12, 2018 - 6:01:17 PM


Files produced by the author(s)


  • HAL Id : hal-01835132, version 1



Carlos Flores, Vicente Milanés, Fawzi Nashashibi. Online Feedforward/Feedback Structure Adaptation for Heterogeneous CACC Strings. American Control Conference (ACC) 2018, Jun 2018, Milwaukee, United States. ⟨hal-01835132⟩



Record views


Files downloads