Adaptive perimeter traffic control of Urban road networks based on MFD model with time delays

In this work, we focus on two main themes: (i) developing a more realistic macroscopic fundamental diagram-based nonlinear control-oriented model of urban traffic networks with time delays incorporated into model structure; and (ii) based on its linearized form subject to input delay, designing two new perimeter control architectures for one aggregated urban traffic region under unknown bounded external disturbances and parameter uncertainties. The feedback control laws design is performed in the context of model reference adaptive control approach. Simulation results based on a linearized model are also presented, which demonstrate in this case desired closed-loop adaptive control system performance.