Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

MTA-BME Lendület Machine Tool Vibration Research Group, Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest 1111, Hungary (kiss a@mm.bme.hu). Abstract: Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations. Keywords: control, safety, time delay, disturbance, connected automated vehicle 1. INTRODUCTION Control systems are often subject to strict safety requirements that must be met before deployment in practice.