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Design and Experimental Validation of an \(H_\infty \) Adaptive Cruise Control for a Scaled Car

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Proceedings of 10th International Conference on Mechatronics and Control Engineering (ICMCE 2021)

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Abstract

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 \(H_\infty \) 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 \(H_\infty \) 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.

This work has been partially supported by the LabEx PERSYVAL-Lab (ANR-11-LABX-0025-01) funded by the French program Investissement d’avenir

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Correspondence to Olivier Sename .

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Sayssouk, W., Atoui, H., Medero, A., Sename, O. (2023). Design and Experimental Validation of an \(H_\infty \) Adaptive Cruise Control for a Scaled Car. In: Conte, G., Sename, O. (eds) Proceedings of 10th International Conference on Mechatronics and Control Engineering . ICMCE 2021. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-1540-6_9

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  • DOI: https://doi.org/10.1007/978-981-19-1540-6_9

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-1539-0

  • Online ISBN: 978-981-19-1540-6

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