Intelligent longitudinal cruise control by quadratic minimization and robust synthesis

Junaid, K.M.; Wang, Shuning; Usman, Keerio; Wencheng, Tao

doi:10.1109/icves.2005.1563638

Cited by 6 publications

(1 citation statement)

References 15 publications

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“…A combined H ∞ feedback and feedforward control is empoyed to damp out longitudinal oscillations using µ analysis in Lefebvre et al (2003) . The robust H ∞ method is compared to the Linear Quadratic Regulator design in Junaid et al (2005). In the paper a third-order linear system is applied, which describes the dynamics of the vehicle and the power-train.…”

Section: Introductionmentioning

confidence: 99%

Robust H‘ Design of an Automotive Cruise Control System

et al. 2015

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Advanced Driver Assistance Systems (ADAS) are in the focus of the vehicle control research. In the paper, the design method of a controller for a longitudinal ADAS system of a test vehicle is proposed. The cruise control must guarantee precise velocity tracking at varying vehicle mass and road inclinations. The mass variation and road slope changes are formulated as disturbances of the system. A combined robust H ∞ and feedforward control design method is applied, which guarantees the robustness of the system against disturbances and considers actuator dynamics. The resulting control algorithm is implemented in CarSim. Simulation scenarios on the Mulhouse-Belfort highway section are performed to illustrate the efficiency of the method.

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Section: Introductionmentioning

confidence: 99%

Robust H‘ Design of an Automotive Cruise Control System

et al. 2015

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Autonomous cruise control with a minimal order Quasi-linear controller

Junaid

Wang

Pervaiz³

et al. 2006

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006

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Continuous growth of population all over the world creates a great challenge to the transport management systems. The future intelligent transportation systems incorporates one important aspect of automation components which is the design of intelligent control systems that enables the system to behave autonomously, hence ensuring safety, comfort and best usage of available infrastructure. In this paper, a novel control strategy based on Quasi-linear feedback control is adopted for a longitudinal vehicle model. A thirdorder nonlinear system models the vehicle and power train dynamics. The system is feedback linearized and the resultant dynamics of the feedback linearized system correspond to a certain class of linear systems, which makes it attractive for the application of a simpler order feedback control designed on the basis of quasi-linear feedback theory. The designed controller not only guarantees asymptotic tracking of the desired trajectories, but also ensures safety and ride comfort under the constraints of physical limitations inherent in the system. The results are compared with the well established LQR optimal control theory, where a priori choice of the weights in the local quadratic criteria allows obtaining diverse desired overall system characteristics. The performance analysis reveals that the new quasi-linear strategy yields valid results.

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Intelligent Road Crashes Avoidance System

Ashtaiwi

2019

2019 International Conference on Artificial Intelligence in Information and Communication (ICAIIC)

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Intelligent longitudinal cruise control by quadratic minimization and robust synthesis

Cited by 6 publications

References 15 publications

Robust H‘ Design of an Automotive Cruise Control System

Robust H‘ Design of an Automotive Cruise Control System

Autonomous cruise control with a minimal order Quasi-linear controller

Intelligent Road Crashes Avoidance System

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