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Robust Hinf desing of an antomotive cruise control system

Abstract : 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 Hinf 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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Contributor : Rodolfo Orjuela Connect in order to contact the contributor
Submitted on : Tuesday, September 1, 2015 - 8:40:07 AM
Last modification on : Wednesday, July 22, 2020 - 4:04:02 PM


  • HAL Id : hal-01189008, version 1



Balázs Németh, Peter Gaspar, Rodolfo Orjuela, Michel Basset. Robust Hinf desing of an antomotive cruise control system. IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, E-COSM'15, Aug 2015, Columbus, United States. ⟨hal-01189008⟩



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