# Delay-Compensated Distributed PDE Control of Traffic with Connected/Automated Vehicles

arXiv: https://arxiv.org/abs/2107.08651 · HTML: https://mlsanity.com/paper/2107.08651/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Jul 2021.

## Built on by (most cited first, 3 of 3)

- [Neural Operators for PDE Backstepping Control of First-Order Hyperbolic PIDE with Recycle and Delay](https://mlsanity.com/paper/2307.11436/) (2023)
- [Deep Learning of Delay-Compensated Backstepping for Reaction-Diffusion PDEs](https://mlsanity.com/paper/2308.10501/) (2023)
- [Proximal Policy Optimization Learning based Control of Congested Freeway Traffic](https://mlsanity.com/paper/2204.05627/) (2022)

## Abstract (arXiv)

We develop an input delay-compensating design for stabilization of an Aw-Rascle-Zhang (ARZ) traffic model in congested regime which is governed by a 2× 2 first-order hyperbolic nonlinear PDE. The traffic flow consists of both adaptive cruise control-equipped (ACC-equipped) and manually-driven vehicles. The control input is the time gap of ACC-equipped and connected vehicles, which is subject to delays resulting from communication lag. For the linearized system, a novel three-branch bakcstepping transformation with explicit kernel functions is introduced to compensate the input delay. The transformation is proved aeto be bounded, continuous and invertible, with explicit inverse transformation derived. Based on the transformation, we obtain the explicit predictor-feedback controller. We prove exponential stability of the closed-loop system with the delay compensator in L2 norm. The performance improvement of the closed-loop system under the proposed controller is illustrated in simulation.