LPV-based control design of an adaptive cruise control system for road vehicles

Balázs Németh, P. Gáspár, Rodolfo Orjuela, Michel Basset

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The paper presents a robust cruise control design method for a test vehicle, which is able to guarantee velocity tracking performance. The longitudinal dynamics and the consideration of model uncertainties such as parameters variation and actuator dynamics, are formulated in the vehicle model. The proposed controller has a feedforward term, which reduces the conservativeness of the control system during the compensation of the measured disturbances. The feedback term is designed using robust Linear Parameter-Varying methods, in which the inaccuracy of the feedforward control is considered. The purpose of the feedback control is to guarantee the robust performance and to handle the actuator saturation. The efficiency of the method is presented through simulation scenarios.

Original languageEnglish
Pages (from-to)62-67
Number of pages6
JournalIFAC-PapersOnLine
Volume28
Issue number14
DOIs
Publication statusPublished - Jul 1 2015

Fingerprint

Adaptive cruise control
Actuators
Cruise control
Control systems
Feedforward control
Feedback control
Feedback
Controllers
Uncertainty
Compensation and Redress

Keywords

  • Automotive application
  • Linear Parameter-Varying methods
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

LPV-based control design of an adaptive cruise control system for road vehicles. / Németh, Balázs; Gáspár, P.; Orjuela, Rodolfo; Basset, Michel.

In: IFAC-PapersOnLine, Vol. 28, No. 14, 01.07.2015, p. 62-67.

Research output: Contribution to journalArticle

Németh, Balázs ; Gáspár, P. ; Orjuela, Rodolfo ; Basset, Michel. / LPV-based control design of an adaptive cruise control system for road vehicles. In: IFAC-PapersOnLine. 2015 ; Vol. 28, No. 14. pp. 62-67.
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