D. Corona and B. De Schutter, "Adaptive cruise control for a SMART car: A comparison benchmark for MPC-PWA control methods," IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 365-372, Mar. 2008.
The design of an adaptive cruise controller for a SMART car, a type of small car, is proposed as a benchmark set-up for several model predictive control methods for nonlinear and piecewise affine systems. Each of these methods has already been applied to specific case studies, different from method to method. This paper has therefore the purpose of implementing and comparing them over a common benchmark, allowing to assess the main properties, characteristics and strong/weak points of each method. In the simulations, a realistic model of the SMART, including gear box and engine nonlinearities, is considered. A description of the methods to be compared is presented, and the comparison results are collected in a table. In particular, the trade-offs between complexity and accuracy of the solution, as well as computational aspects are highlighted.