Experimental Implementation and Validation of Predictor-Based CACC for Vehicular Platoons With Distinct Actuation Delays
Abstract
We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to long actuation delays that may be distinct for each individual vehicle. We provide the explicit formulae of the control design that is implemented, accounting for the effect of zero-order hold and sampled measurements; as well as we obtain vehicle and string stability conditions numerically, via derivation of the transfer functions relating the speeds of pairs of consecutive vehicles. We also present consistent simulation results for a platoon with a larger number of vehicles, under digital implementation of the controller. Both the simulation and experimental results confirm the effectiveness of the predictor-based CACC design in guaranteeing individual vehicle stability, string stability, and tracking, despite long/distinct actuation delays.
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Implementation of nonlinear predictor feedbacks is thoroughly addressed in [17], and its practical feasibility is supported by experimental implementations [1], [32], [33].
“Implementation of nonlinear predictor feedbacks is thoroughly addressed in [17], while its practical feasibility is supported by experimental implementations [1], [32], [33].”
From Semiglobal Switched Predictor-Feedback Stabilization of Nonlinear Systems With Input Delay and State/Input Quantization (2026) · cites this paper as [32]
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- Authors
- Samii, A., Haan, R. D., & Bekiaris-Liberis, N.
- Affiliations
- Technical University of Crete (GR)
- Eindhoven University of Technology (NL)
- Venue
- 2025 IEEE 64th Conference on Decision and Control (CDC)
- Publisher
- IEEE
- Published
- 2025-12-09
- Pages
- 206-211
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W7123358946
- Cited by
- 1
- References
- 33
- Citations by year
- 2025: 1
- FWCI
- 2.18
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE Conference on Decision and Control (CDC) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Traffic control and management
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Keywords
- cooperative adaptive cruise control, vehicle platooning, actuation delay, predictor-based control, time delay compensation, string stability, zero-order hold, sampled measurements, digital controller implementation, heterogeneous platoons
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