Guaranteed performances for a learning-based eco-cruise control using robust LPV method

Abstract

In this paper the design of an eco-cruise control system with learning-based agent for automated vehicles is proposed. The control design is based on the robust Linear Parameter-Varying (LPV) framework, in which performance levels of the system can be guaranteed. The motivation of the learning-based agent is to reduce the required on-line computation of the eco-cruise control signal, in which several environmental factors are involved, e.g. the forthcoming terrain characteristics, speed limits. In the proposed method the design of the LPV controller and the selection of scheduling variables are performed in an iterative method. As a result, the proposed system is able to handle the degradation of the learning-based agent, while the performance of the system is guaranteed.