Model-based LQ control design of integrated vehicle tracking systems

Abstract

The paper comprises the design of an integrated vehicle system including powertrain, brake, active suspension and steering components. The purpose is to design an integrated adaptive cruise control system with the aim of keeping the distance and tracking the path. In the first step, the vehicle model which is able to handle the effects of road and wind disturbances is formalized. In the second step, an adaptive cruise-control system based on the linear quadratic (LQ) method is designed with special emphasis on path tracking and predefined distance considerations. In the control design, several vehicle components are integrated, thus the controller of the vehicle systems operate simultaneously in one algorithm. The reason for using a linear quadratic method is to achieve a balance between different performance specifications and design an optimal control with the minimization of a cost function. During the simulations Matlab/Simulink and CarSim are used,