Experimental Application of Hybrid Fractional-Order Adaptive Cruise Control at Low Speed

Hassan Hosseinnia (1) , Inés Tejado (1) , Vicente Milanés (2) , Jorge Villagrá (3) , Blas Vinagre (1)

1 University of Extremadura
2 RITS - Robotics & Intelligent Transportation Systems
3 CAR - Centre for Automation and Robotics

This brief deals with the design and experimen-tal application of a hybrid fractional adaptive cruise control (ACC) at low speeds. First, an improved fractional-order cruise control (CC) is presented for a commercial Citroën C3 prototype—which has automatic driving capabilities—at low speeds, which considers a hybrid model of the vehicle. The quadratic stability of the system is proved using a frequency domain method. Second, ACC maneuvers are implemented with two different distance policies using two cooperating vehicles— one manual, the leader, and the other, automatic—also at very low speeds. In these maneuvers, the objective is to maintain a desired interdistance between the leader and follower vehi-cles, i.e., to perform a distance control—with a proportional differential (PD) controller in this case—in which the previously designed fractional-order CC is used for the speed control. Simulation and experimental results, obtained in a real circuit, are given to demonstrate the effectiveness of the proposed control strategies. Index Terms— Adaptive cruise control (ACC), fractional-order control (FOC), hybrid system and control, stability.

Domaines: Automatique / Robotique

Hassan Hosseinnia, Inés Tejado, Vicente Milanés, Jorge Villagrá, Blas Vinagre. Experimental Application of Hybrid Fractional-Order Adaptive Cruise Control at Low Speed. IEEE Transactions on Control Systems Technology, 2014, pp.2329-2336. ⟨10.1109/TCST.2014.2308837⟩. ⟨hal-01091158⟩