Reference:
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.
Abstract:
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.
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