Using Plug&Play control for stable ACC-CACC system transitions

This paper examines the already commercially available Adaptive Cruise Controller (ACC) system, and its evolution by adding vehicle-to-vehicle communications: the cooperative ACC (CACC) version. The transition between ACC and CACC controllers will be done through the new control technique called Plug&Play. This technique is able to deal with living systems and the changes in its sensors and actuators to preserve the system stable. The aim is to ensure the system stability during transitions between controllers when the vehicle-to-vehicle communication link is changing from unavailable to available or vice versa.