Youla–Kucera based multi-objective car following controller. (October 2021)

• Record Type: Journal Article
• Authors: Mahtout, I.; Navas, F.; Gonzalez, D.; Milanés, V.; Nashashibi, F.
• Is Part Of: Control engineering practice. Volume 115(2021)
• Publication Date: 2021-10
• Subjects: Adaptive cruise control -- Intelligent transportation -- Youla–Kucera parametrization -- Systems controllers interpolation -- Multi-controller structure; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2021.104908
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: This paper presents the design and implementation of a novel multi-objective Adaptive Cruise Controller (ACC). The proposed control strategy is based on Youla–Kucera parametrization to interpolate two ACC controllers with conflicting objectives: (1) a performant controller with fast preceding tracking capabilities; and (2) a robust controller with perception noise attenuation capabilities within the system bandwidth. The proposed multi-controller structure uses tools of both performance and robust control in order to adapt car-following behavior to perception system status. The solution is implemented in an automated Renault ZOE, and compared to H ∞ controller, providing encouraging results.