| Full text | |
| Author(s): |
Preto, Fernando Zolubas
;
Angelico, Bruno Augusto
;
Teixeira, Evandro Leonardo Silva
;
Justo, Joao Francisco
Total Authors: 4
|
| Document type: | Journal article |
| Source: | MECHATRONICS; v. 113, p. 19-pg., 2025-11-20. |
| Abstract | |
This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach. (AU) | |
| FAPESP's process: | 23/04628-6 - Safe control of automotive systems |
| Grantee: | Bruno Augusto Angélico |
| Support Opportunities: | Regular Research Grants |