An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer
Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed H_{2}/H_\infty observer-based controller...
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Veröffentlicht in: | IEEE transactions on intelligent transportation systems 2022-06, Vol.23 (6), p.5602-5614 |
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creator | Liu, Cong-Zhi Li, Liang Chen, Xiang Yong, Jia-Wang Cheng, Shuo Dong, Hong-Lei |
description | Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed H_{2}/H_\infty observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed H_{2}/H_\infty method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of H_{2}/H_\infty guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on H_\infty theory, the design criterion of the proposed mixed H_{2}/H_\infty observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method. |
doi_str_mv | 10.1109/TITS.2021.3055256 |
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To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on <inline-formula> <tex-math notation="LaTeX">H_\infty </tex-math></inline-formula> theory, the design criterion of the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.]]></description><identifier>ISSN: 1524-9050</identifier><identifier>EISSN: 1558-0016</identifier><identifier>DOI: 10.1109/TITS.2021.3055256</identifier><identifier>CODEN: ITISFG</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Adaptive control ; advanced driver assistant system ; Automobiles ; Car following ; Control methods ; Controllers ; Cruise control ; delayed measurements ; Delays ; Design criteria ; False alarms ; Feedback control ; H-infinity control ; Linear matrix inequalities ; linear matrix inequality ; Mathematical analysis ; Mixed H₂/H∞ theory ; multiplicative noise ; observer-based controller ; Observers ; Radar ; Radar tracking ; Safety ; Time measurement ; Tracking</subject><ispartof>IEEE transactions on intelligent transportation systems, 2022-06, Vol.23 (6), p.5602-5614</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c223t-316b94142f831d2e98d444beb0a22dff1b3d31483b4968bcfca0925f51a3ed153</citedby><cites>FETCH-LOGICAL-c223t-316b94142f831d2e98d444beb0a22dff1b3d31483b4968bcfca0925f51a3ed153</cites><orcidid>0000-0002-1577-408X ; 0000-0001-8254-8907 ; 0000-0002-2977-1365 ; 0000-0002-5410-9170</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9407338$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9407338$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Liu, Cong-Zhi</creatorcontrib><creatorcontrib>Li, Liang</creatorcontrib><creatorcontrib>Chen, Xiang</creatorcontrib><creatorcontrib>Yong, Jia-Wang</creatorcontrib><creatorcontrib>Cheng, Shuo</creatorcontrib><creatorcontrib>Dong, Hong-Lei</creatorcontrib><title>An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer</title><title>IEEE transactions on intelligent transportation systems</title><addtitle>TITS</addtitle><description><![CDATA[Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on <inline-formula> <tex-math notation="LaTeX">H_\infty </tex-math></inline-formula> theory, the design criterion of the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.]]></description><subject>Adaptive control</subject><subject>advanced driver assistant system</subject><subject>Automobiles</subject><subject>Car following</subject><subject>Control methods</subject><subject>Controllers</subject><subject>Cruise control</subject><subject>delayed measurements</subject><subject>Delays</subject><subject>Design criteria</subject><subject>False alarms</subject><subject>Feedback control</subject><subject>H-infinity control</subject><subject>Linear matrix inequalities</subject><subject>linear matrix inequality</subject><subject>Mathematical analysis</subject><subject>Mixed H₂/H∞ theory</subject><subject>multiplicative noise</subject><subject>observer-based controller</subject><subject>Observers</subject><subject>Radar</subject><subject>Radar tracking</subject><subject>Safety</subject><subject>Time measurement</subject><subject>Tracking</subject><issn>1524-9050</issn><issn>1558-0016</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kM1OwkAUhSdGExF9AONmEteFufNTpkskKiQQFuC6mbZ3Ygl0cKYlumXlU_hwPIlFiKtzcvOde28OIffAegAs6S8ny0WPMw49wZTiKr4gHVBKR4xBfHn0XEYJU-ya3ISwaqdSAXTIaljRSVW5nanLHdJhYbZ_ZuSbMrTiqtq7NZ1h_e4K-mQCFtRVdFZ-tmZ82O_748P3D503deRstMCPBqscW96ExuMGq5rOs4B-h_6WXFmzDnh31i55e3lejsbRdP46GQ2nUc65qCMBcZZIkNxqAQXHRBdSygwzZjgvrIVMFAKkFplMYp3lNjcs4coqMAILUKJLHk97t96174Q6XbnGV-3JlMcDzrQGxloKTlTuXQgebbr15cb4rxRYeqw0PVaaHitNz5W2mYdTpkTEfz6RbCCEFr-5D3ON</recordid><startdate>20220601</startdate><enddate>20220601</enddate><creator>Liu, Cong-Zhi</creator><creator>Li, Liang</creator><creator>Chen, Xiang</creator><creator>Yong, Jia-Wang</creator><creator>Cheng, Shuo</creator><creator>Dong, Hong-Lei</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-1577-408X</orcidid><orcidid>https://orcid.org/0000-0001-8254-8907</orcidid><orcidid>https://orcid.org/0000-0002-2977-1365</orcidid><orcidid>https://orcid.org/0000-0002-5410-9170</orcidid></search><sort><creationdate>20220601</creationdate><title>An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer</title><author>Liu, Cong-Zhi ; Li, Liang ; Chen, Xiang ; Yong, Jia-Wang ; Cheng, Shuo ; Dong, Hong-Lei</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c223t-316b94142f831d2e98d444beb0a22dff1b3d31483b4968bcfca0925f51a3ed153</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Adaptive control</topic><topic>advanced driver assistant system</topic><topic>Automobiles</topic><topic>Car following</topic><topic>Control methods</topic><topic>Controllers</topic><topic>Cruise control</topic><topic>delayed measurements</topic><topic>Delays</topic><topic>Design criteria</topic><topic>False alarms</topic><topic>Feedback control</topic><topic>H-infinity control</topic><topic>Linear matrix inequalities</topic><topic>linear matrix inequality</topic><topic>Mathematical analysis</topic><topic>Mixed H₂/H∞ theory</topic><topic>multiplicative noise</topic><topic>observer-based controller</topic><topic>Observers</topic><topic>Radar</topic><topic>Radar tracking</topic><topic>Safety</topic><topic>Time measurement</topic><topic>Tracking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Liu, Cong-Zhi</creatorcontrib><creatorcontrib>Li, Liang</creatorcontrib><creatorcontrib>Chen, Xiang</creatorcontrib><creatorcontrib>Yong, Jia-Wang</creatorcontrib><creatorcontrib>Cheng, Shuo</creatorcontrib><creatorcontrib>Dong, Hong-Lei</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998–Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE transactions on intelligent transportation systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Liu, Cong-Zhi</au><au>Li, Liang</au><au>Chen, Xiang</au><au>Yong, Jia-Wang</au><au>Cheng, Shuo</au><au>Dong, Hong-Lei</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer</atitle><jtitle>IEEE transactions on intelligent transportation systems</jtitle><stitle>TITS</stitle><date>2022-06-01</date><risdate>2022</risdate><volume>23</volume><issue>6</issue><spage>5602</spage><epage>5614</epage><pages>5602-5614</pages><issn>1524-9050</issn><eissn>1558-0016</eissn><coden>ITISFG</coden><abstract><![CDATA[Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on <inline-formula> <tex-math notation="LaTeX">H_\infty </tex-math></inline-formula> theory, the design criterion of the proposed mixed <inline-formula> <tex-math notation="LaTeX">H_{2}/H_\infty </tex-math></inline-formula> observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.]]></abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TITS.2021.3055256</doi><tpages>13</tpages><orcidid>https://orcid.org/0000-0002-1577-408X</orcidid><orcidid>https://orcid.org/0000-0001-8254-8907</orcidid><orcidid>https://orcid.org/0000-0002-2977-1365</orcidid><orcidid>https://orcid.org/0000-0002-5410-9170</orcidid></addata></record> |
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subjects | Adaptive control advanced driver assistant system Automobiles Car following Control methods Controllers Cruise control delayed measurements Delays Design criteria False alarms Feedback control H-infinity control Linear matrix inequalities linear matrix inequality Mathematical analysis Mixed H₂/H∞ theory multiplicative noise observer-based controller Observers Radar Radar tracking Safety Time measurement Tracking |
title | An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer |
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