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This paper focuses on disturbance propagation in vehicle strings. It is known that using only relative spacing information to follow a constant distance behind the preceding vehicle leads to string instability. Specifically, small disturbances acting on one vehicle can propagate and have a large effect on another vehicle. We show that this limitation is due(More)
—A new method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form. This method is another " synthetic input technique , " similar to backstepping and multiple surface control methods, but with an important addition, 1 low pass filters are included in the design(More)
—An important aspect of an automated highway system design is the synthesis of an automatic vehicle following system. Associated with automatic vehicle following systems is the problem of the stability of a string of vehicles, i.e., the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some(More)
This article presents the use of a model-based approach for the development of real-time, embedded, hybrid control software. The concepts are illustrated with a scenario involving speed-profile tracking and vehicle following applications for passenger vehicles. The model-based approach was developed in partnership between the University of California at(More)
A robust control design is proposed for the lane-keeping and obstacle avoidance of semiautonomous ground vehicles. A robust Model Predictive Controller (MPC) is used in order to enforce safety constraints with minimal control intervention. An uncertain driver model is used to obtain sets of predicted vehicle trajectories in closed-loop with the predicted(More)