Funnel cruise control with input saturation

Funnel Cruise Control was developed as an adaptive cruise control with a combination of distance and speed control, based on the concept of funnel control. It is able to guarantee the safety of the driver by keeping a minimal distance from the preceding vehicle, tracks a desired speed without violating the former condition and can be applied to any model that describes the dynamics of a vehicle, as long as the model satisfies some structural properties. While the performance of Funnel Cruise Control is promising, the presence of saturation bounds on the input threatens the desirable properties of the Funnel Cruise Control. In this thesis, a condition is stated in the form of certain threshold functions that serve as bounds on the saturation bounds. If the condition is satisfied, then the cruise control objectives are achieved. A second approach is considered in which the distance funnel is widened while the Funnel Cruise Control is in use, which aids in case of sudden braking of the preceding vehicle. Additionally, an adjustment to the Funnel Cruise Control is proposed such that design options are available, e.g. faster control performance.