Reference:
D. Corona and
B. De Schutter,
"Adaptive cruise controller design: A comparative assessment for PWA
systems," Proceedings of the 2nd IFAC Conference on Analysis and
Design of Hybrid Systems (ADHS'06), Alghero, Italy, pp. 253-258,
June 2006.
Abstract:
We propose the design of an adaptive cruise controller (ACC)
of a Smart vehicle as a benchmark set up for methods developed for
piecewise affine (PWA) systems based on model predictive control (MPC)
arguments. The control law of the system aims at achieving a trade-off
between tracking and fuel consumption while guaranteeing specific
constraints, related to physical limitations, safety/comfort
issues, environment protection and energy saving. In this paper we
consider some PWA MPC control design methods, an on-line, an off-line
and a robust on-line and compare them with an on-line linear
approximation and an off-line gain scheduling approach. The results
will be briefly described and the algorithms will be tested in terms
of key issues for real implementation and accuracy of the solution.
Online version of the
paper
Corresponding technical report:
pdf
file
(183 KB)