Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/8651
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Conference Object Controller Synthesis With a Cone Complementarity Linearization Algorithm for CACC System Under Time-Varying Delay(IEEE, 2025) Bingol, HilalCooperative Adaptive Cruise Control (CACC) is an intelligent vehicle technology that enables vehicle follow-up in a small inter-vehicle distance. Stability is the main property of the CACC system that prevents any signal fluctuations throughout the vehicle string. In CACC system, time delay has a negative impact on string stability. The reason is that constant and varying time delays are unavoidable in real traffic. Here, controller gains should be synthesized under constant and time-varying communication delays to satisfy L-2-string stability conditions (in the Lyapunov sense). Contrary to previously studied convex method, controller gains are now synthesized with iterative nonlinear minimization algorithm and Cone Complementarity Linearization (CCL) method. The results show that the new CCL approach provides more accurate and practical stability bounds. Hence, this shows the potential of CCL to perform more sensitive analyses. The results obtained are evaluated by simulations with the heterogeneous CACC system.Article Citation - WoS: 4Citation - Scopus: 4String Stability Under Actuator Saturation on Straight Level Roads: Sufficient Conditions and Optimal Trajectory Generation(Ieee-inst Electrical Electronics Engineers inc, 2022) Bingol, Hilal; Schmidt, Klaus WernerThe heterogeneity of vehicles is an important factor when realizing cooperative adaptive cruise control (CACC) in practice. Specifically, it has to be considered that platoons generally consist of vehicles with both different dynamic properties and actuator limits on the engine and braking force, which is expected to have a negative impact on important properties such as string stability. Accordingly, the subject of this paper is the preservation of string stability for CACC in heterogeneous vehicle strings with potential actuator saturation. To this end, the paper formulates a velocity-dependent force bound that enables the derivation of sufficient conditions for preserving string stability during velocity changes of heterogeneous platoons. These conditions are then used for the analytical computation of trajectories for time-optimal velocity changes. The formal results of the paper are supported by an illustrative simulation study.