Tuning of controller gains for vehicle following system

Abstract

For avoiding any collision between the following vehicle and vehicle in front, it is necessary and vital to keep appropriate safe spacing between both vehicles at any speed. Therefore, the following vehicle needs to have exact information according to the speed and spacing between vehicles. So, this project is about the simulating the tuning of controller gain for vehicle following system through the selected control strategy, spacing control policy and the fixed time headway policy between vehicles. In addition, simulation using adaptive gain controller for road vehicle following system is used on the proposed one-vehicle look- ahead strategy. The study investigates the control system on the following vehicle which uses information of preceding vehicle about spacing, velocity and also acceleration. The mathematical model was implemented through Kirchhoff and Newton’s laws for this control strategy and it is shown in the simulation of the stability for following model. The trial-error method was used as an initial controller system which was necessary in intervention to get the suitable value of ????. However, the adaptive based on controller system could optimize the gain value automatically until it finds an acceptable value of gain. Foremost, applying the Model Reference Adaptive Control (MRAC) design has utilized and designed two types of significant of MRAC approaches which are the gradient and Lyapunov approach. The adaptive gain controller was used on both approaches and it has been investigated a perfect model based on selected control strategy. Consequently, gradient approach was found as a significant method to improve a best value of gain controller system, while this gain controller of Lyapunov approach controller system became a very small value