Design and Experimental Validation of an H∞ Adaptive Cruise Control for a Scaled Car

Adaptive Cruise Control algorithms have been developed as a consequence of recent advances in automobile technology, such as sensors and on-board processing, which increase both comfort and safety. Through this paper, a longitudinal dynamic model is identified based on a collected experimental data. Moreover, the H∞ concept is used to design a controller to regulate the longitudinal behavior of an autonomous scaled car while ensuring the safety distance between vehicles to avoid collision. The H∞ control design is based on solving an optimization problem with guaranteed performances. The proposed approach is then implemented and experimentally validated on a real scaled car.

10th International Conference on Mechatronics and Control Engineering