Passivation and performance optimization using an extremum seeking co-simulation framework with application to Adaptive Cruise Control systems

In this paper, we apply an input-output transformation passivation method developed in our previous work to an Adaptive Cruise Control system and analyze the system's performance. A co-simulation framework that makes use of an online optimization method called extremum-seeking is used to determine the passivation parameters. It is known that systems with input-output time-delays are not passive. Additionally, time-delays are unavoidable in automotive systems and commonly emerge in software implementations, communication units, as well as driver's behavior. We show that by using our passivation method, we can passivate a time-delay system and improve its overall performance by using an extremum-seeking co-simulation framework. To validate our work, we present simulation results in CarSim and Simulink.