An iterative learning approach for density control of freeway traffic flow via ramp metering

In this work, we apply the iterative learning control approach to address the traffic density control problem in a macroscopic level freeway environment with ramp metering. The traffic density control problem is first formulated into an output tracking and disturbance rejection problem. Through rigorous analysis, it is shown that the iterative learning control method can effectively deal with this class of control problem and greatly improve the traffic response. Next, the iterative learning control is combined with error feedback in a complementary modular manner to achieve the output tracking and system robustness. The effectiveness of the new approach is further verified through case studies with intensive simulations.