Robust Cruise Control Research Articles

Robust Cruise Control for the Heavy Haul Train Subject to Disturbance and Actuator Saturation

This paper investigates the disturbance observer based robust cruise control problem for the heavy haul train with input saturation and disturbances. Both uncertain parameters and actuator saturation are taken into account in the dynamic model of the heavy haul train. To reject the influence of disturbances from the input channel, a linear disturbance observer is proposed to approximate the unknown disturbance, and an augmented system is constructed by combining the train state and the disturbance estimation error. According to the Lyapunov stability analysis method and the guaranteed cost control theory, a sufficient condition for the existence of the composite state-feedback control law and the disturbance observer parameter matrix are obtained, the coupler deviation and the disturbance estimation error are stable at the equilibrium point, and meanwhile the minimization of a given train performance index is ensured. Numerical experiments are provided to illustrate the effectiveness of the proposed approach.

Implementation of a robust cruise control using look-ahead method

The paper proposes the implementation of a robust cruise control system which is able to ensure the fuel-efficient travel of the vehicle with a look-ahead control algorithm. The H∞-based feedforward-feedback control method guarantees robustness against varying vehicle mass, longitudinal disturbances and the consideration of actuator dynamics. The advantage of the method is the application of a small number of vehicle parameters. Therefore, a method for various passenger cars without significant modifications is needed. The proposed cruise control and the look-ahead method are implemented in a software-in-the-loop (SIL) environment using DSpace Autobox, which cooperates with the high-fidelity CarSim software through CAN communication.

LPV-based Control Design of an Adaptive Cruise Control System for Road Vehicles

The paper presents a robust cruise control design method for a test vehicle, which is able to guarantee velocity tracking performance. The longitudinal dynamics and the consideration of model uncertainties such as parameters variation and actuator dynamics, are formulated in the vehicle model. The proposed controller has a feedforward term, which reduces the conservativeness of the control system during the compensation of the measured disturbances. The feedback term is designed using robust Linear Parameter-Varying methods, in which the inaccuracy of the feedforward control is considered. The purpose of the feedback control is to guarantee the robust performance and to handle the actuator saturation. The efciency of the method is presented through simulation scenarios.

Robust sampled-data cruise control scheduling of high speed train

This paper investigates the robust cruise control scheduling of high speed train based on sampled-data. The dynamics model of a high speed train is modeled by a cascade of cars which are connected by flexible couplers, and is subject to rolling mechanical resistance, aerodynamic drag and wind gust. The robust cruise controller is designed for high speed train based on sampled-data. By using the method of converting the sampling period into a bounded time-varying delay, the addressed problem is transformed to the problem of stability analysis of time-varying delays system. Based on Lyapunov stability theory, sufficient conditions for the existence of robust sampled-data cruise control scheduling are given in terms of linear matrix inequality (LMI), under which the high speed train can track the desired speed, the relative spring displacement between the two neighbouring cars is robustly stable at the equilibrium state, and a prescribed H∞ disturbance attenuation level with respect to the wind gust is guaranteed, which ensures the safety and comfort of the operating of high speed train. Numerical examples are given to illustrate the effectiveness of the proposed methods.

Optimized robust cruise control system for an electric vehicle

Besides environmental advantages and fuel efficiency, electric motors are a suitable choice for powertrain of vehicles due to appropriate similarity between their torque–speed characteristics and the required vehicle torque for longitudinal performance. An applicable robust control system for the cruise controller of a DC motor-driven electric vehicle is proposed. The robust controller is tuned using a numerical optimization design method to compensate the disturbances from the road grade and changes in the vehicle weight. In this study, the vehicle's powertrain model is developed and details of the controller design process are described. The robustness and performance of the designed controller is evaluated by performing computer simulations. The results demonstrate adequate robustness and disturbance rejection of the designed control system.

Control basado en PID inteligentes: aplicación al control de crucero de un vehículo a bajas velocidades

In spite of its limitations, the most widespread industrial control technique is still today PID control. In this article, a new approach, intelligent PID based control (i-PID), will be presented. It takes advantage of its strength, while it improves one of its main weak points: the loss of performance in presence of non-linear terms or unmodeled dynamics. To show the i-PID behavior it has been implemented on a real application, the robust cruise control of an experimental vehicle in urban environments.