IEEE Systems, Man and Cybernetics Magazine - October 2023 - 42

(Figures 20 and 21) and asynchronized predictor-
observer method (Figures 22 and 23). To clearly indicate
the compensation introduced by the prediction,
the state error brought by the
delay (the difference between the
delayed system states received
by the controller and the actual
system states at the current
moment) and the prediction (the
difference between the predicted
system states generated by the
controller and the actual system
states at the current moment) are
in Figures 24-27, corresponding
to Figures 20-23, respectively.
The result of the longitudinal
simulation indicates the same
trend. Thus, the analysis is omitted.
However, some issues need
to be particularly explained for
the longitudinal cases. First, during
the simulation, the proceeding vehicle is set to accelerate
and decelerate quickly to simulate an impulse
excitation to the control system. During the speed variation
of the proceeding vehicle, the control system is
actually not perfectly linear. Therefore, the predictor is
-1
1
04060
t(s)
(a)
20
-1
1
04060
t(s)
(b)
20
4
2
-4
-2
04060
t(s)
(c)
20
80 100 120
State Error Brought by Delay
State Error Brought by Prediction
Figure 25. The evolution of the state error brought
by the delay and prediction (corresponding to
Figure 21). (a) Intervehicle distance error subject
to expected distance. (b) Intervehicle speed error.
(c) Acceleration of the following vehicle.
42 IEEE SYSTEMS, MAN, & CYBERNETICS MAGAZINE October 2023
80 100 120
4
2
-4
-2
04060
t(s)
(c)
20
80 100 120
State Error Brought by Delay
State Error Brought by Prediction
Figure 26. The evolution of the state error brought
by the delay and prediction (corresponding to
Figure 22). (a) Intervehicle distance error subject
to expected distance. (b) Intervehicle speed error.
(c) Acceleration of the following vehicle.
80 100 120
-1
1
04060
t(s)
(b)
20
80 100 120
If the delay is known
to the controller,
a more accurate
estimation of the
system states could
be conducted with
the synchronized
predictor-observer
method.
disabled throughout that period to avoid unreasonable
prediction output, which explains why the prediction
error synchronizes with the delay error at the beginning

IEEE Systems, Man and Cybernetics Magazine - October 2023

Table of Contents for the Digital Edition of IEEE Systems, Man and Cybernetics Magazine - October 2023

Contents
IEEE Systems, Man and Cybernetics Magazine - October 2023 - Cover1
IEEE Systems, Man and Cybernetics Magazine - October 2023 - Cover2
IEEE Systems, Man and Cybernetics Magazine - October 2023 - Contents
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 2
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 3
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 4
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 5
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 6
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 7
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 8
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 9
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 10
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 11
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 12
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 13
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 14
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 15
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 16
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 17
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 18
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 19
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 20
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 21
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 22
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 23
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 24
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 25
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 26
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 27
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 28
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 29
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 30
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 31
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 32
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 33
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 34
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 35
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 36
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 37
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 38
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 39
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 40
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 41
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 42
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 43
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 44
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 45
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 46
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 47
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 48
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 49
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 50
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 51
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 52
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 53
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 54
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 55
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 56
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 57
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 58
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 59
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 60
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 61
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 62
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 63
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 64
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 65
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 66
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 67
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 68
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 69
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 70
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 71
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 72
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 73
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 74
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 75
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 76
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 77
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 78
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 79
IEEE Systems, Man and Cybernetics Magazine - October 2023 - 80
IEEE Systems, Man and Cybernetics Magazine - October 2023 - Cover3
IEEE Systems, Man and Cybernetics Magazine - October 2023 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/smc_202310
https://www.nxtbook.com/nxtbooks/ieee/smc_202307
https://www.nxtbook.com/nxtbooks/ieee/smc_202304
https://www.nxtbook.com/nxtbooks/ieee/smc_202301
https://www.nxtbook.com/nxtbooks/ieee/smc_202210
https://www.nxtbook.com/nxtbooks/ieee/smc_202207
https://www.nxtbook.com/nxtbooks/ieee/smc_202204
https://www.nxtbook.com/nxtbooks/ieee/smc_202201
https://www.nxtbook.com/nxtbooks/ieee/smc_202110
https://www.nxtbook.com/nxtbooks/ieee/smc_202107
https://www.nxtbook.com/nxtbooks/ieee/smc_202104
https://www.nxtbook.com/nxtbooks/ieee/smc_202101
https://www.nxtbook.com/nxtbooks/ieee/smc_202010
https://www.nxtbook.com/nxtbooks/ieee/smc_202007
https://www.nxtbook.com/nxtbooks/ieee/smc_202004
https://www.nxtbook.com/nxtbooks/ieee/smc_202001
https://www.nxtbook.com/nxtbooks/ieee/smc_201910
https://www.nxtbook.com/nxtbooks/ieee/smc_201907
https://www.nxtbook.com/nxtbooks/ieee/smc_201904
https://www.nxtbook.com/nxtbooks/ieee/smc_201901
https://www.nxtbook.com/nxtbooks/ieee/smc_201810
https://www.nxtbook.com/nxtbooks/ieee/smc_201807
https://www.nxtbook.com/nxtbooks/ieee/smc_201804
https://www.nxtbook.com/nxtbooks/ieee/smc_201801
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1017
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0717
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0417
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0117
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1016
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0716
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0416
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0116
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1015
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0715
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0415
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0115
https://www.nxtbookmedia.com