Comparative Study of Anti-windup Techniques on Performance of Adaptive Cruise Control

Abstract

Over recent years, a steep rise in the number of auto mobiles has been recorded on the limited capacity roads. As a result, this led to investments in the fields of accident minimisation research in vehicles and the development of newer models of auto mobiles with enhanced safety features. Advanced techniques such as adaptive cruise control (ACC), collision avoidance and collision warning system (CWS) are some of the fruitful outcomes that have proved their effectiveness in the prevention of hazards from time to time. In this paper, we will do a comparative study of two anti-windup strategies (back calculation, conditional integration) in a PID speed controller. These techniques are used to mitigate the undesired phenomenon known as integrator windup whenever the control input leads to events that saturate the actuator limits. A nonlinear vehicular dynamic model is linearised at the desired speed set-point, and the effect of these anti-windup schemes on cruise control of the vehicular model is compared. The proposed procedure can also be extended for different set-point and environment condition for an advanced method such as gain scheduling. These techniques can be incorporated in the existing controller with minute changes in software architecture. We will evaluate these schemes based on steady-state error analysis through simulation.