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This paper is to design an autonomous cruise control module for autonomous vehicle following to maintain steering smoothness and a desired intervehicle spacing from highway to nonhighway environments. We reasonably simplify the nonlinear kinematical module to linear time-varying module by combining optimal control on lateral side with classic correction control on longitudinal side. Computer simulations...
This paper proposes a robust switching control for vehicle steering input. This control is constructed from a robust switching two-PID control to correct the lateral displacement and yaw angle of the vehicle. The controllers are based on LMI-theory stabilizing optimal and on linear time-invariant models of the vehicle, obtained around its nominal operating point. The different gains of both PID controllers...
In this paper we investigate the possibility of applying the hybrid model predictive control (MPC) framework to solve a control problem regarding tracking of a moving vehicle. The study originates from the design of an adaptive cruise controller (ACC) of a Smart car, that aims to closely follow a reference trajectory transmitted by a leading vehicle. The physical behavior of the Smart and the constraints...
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