Design of an LMI-based Polytopic LQR Cruise Controller for an Autonomous Vehicle towards Riding Comfort
Authors
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Gia Quoc Bao Tran
AffiliationGIPSA-lab, CNRS, Grenoble INP, Université Grenoble Alpes, 11 Rue des Mathématiques, 38402 Saint-Martin-d'Hères, France
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Thanh-Phong Pham
Affiliation
Department of Automation, Faculty of Electrical and Electronic Engineering, University of Technology and Education – The University of Danang, 48 Cao Thang street, 550000 Danang, Vietnam
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Olivier Sename
Affiliation
GIPSA-lab, CNRS, Grenoble INP, Université Grenoble Alpes, 11 Rue des Mathématiques, 38402 Saint-Martin-d'Hères, France
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Péter Gáspár
Affiliation
Systems and Control Lab, Institute for Computer Science and Control, Hungarian Academy of Sciences, Eötvös Loránd Research Network (ELKH), Kende u. 13-17, H-1111 Budapest, Hungary
Abstract
In this paper, we present an LMI-based approach for comfort-oriented cruise control of an autonomous vehicle. First, vehicle longitudinal dynamics and a corresponding parameter-dependent state-space representation are explained and discussed. An LMI-based polytopic LQR controller is then designed for the vehicle speed to track the reference value in the presence of noise and disturbances, where the scheduling parameters are functions of the vehicle mass and the speed itself. An appropriate disturbance force compensation term is also included in the designed controller to provide a smoother response. Then we detail how the reference speed is calculated online, using polynomial functions of the given desired comfort level (quantified by the vertical acceleration absorbed by the human body) and of the road type characterized by road roughness. Finally, time-domain simulations illustrate the method’s effectiveness.
Keywords:
autonomous vehicle, cruise control, linear parameter-varying (LPV), linear matrix inequality (LMI), gain scheduling, passenger comfortCitation data from Crossref and Scopus
