Fractional Network-Based Control for Vehicle Speed Adaptation via Vehicle-to-Infrastructure Communications

This paper addresses the problem of e-safety driving in urban areas, where the principal limiting factor is vehicle-to-vehicle or vehicle-to-infrastructure communications. Time-varying network-induced delays constitute the main concern of networked control systems since they may negatively affect the velocity control of a vehicle at low speeds and consequently cause an accident. A system to adapt the vehicle's speed to avoid or mitigate possible accidents has been developed. In particular, gain scheduling is used in a local fractional-order proportional integral controller to compensate the effects of delay. Experimental results on a prototype Citroen vehicle in a real environment are presented, which demonstrate the effectiveness of the proposed system.