Predictor Design for Connected Cruise Control Subject to Packet Loss

摘要

In this work connected cruise control with digital controllers is investigated for a vehicular string on a single lane. The longitudinal control of each vehicle is based on the information broadcast by other vehicles via wireless communication. We demonstrate that intermittencies and packet loss introduce time-dependent time delays in the control loop that may destabilize the system. We analyze the plant and string stability and construct predictors to attenuate the destabilizing effects of the imperfections in the communication.