Adaptive speed control under vehicle and road uncertainties using multiple model approach

To deal with possible uncertainties of vehicle longitudinal dynamics especially in complex road condition, a multiple model switching control system for vehicle speed is designed in this paper. Vehicle dynamics from throttle to vehicle speed is linearized about equilibria and a model set consisting of five multiplicative uncertain models is set up to cover the possible range of vehicle dynamics. Based on this model set, the multiple model switching control system for vehicle speed is accomplished based on robust control theory by designing its estimator, switching performance index and logic, robust performance controller set. Simulation results show that this new controller has better adaptive performance than parameter adaptive method and thus better performances of tracking is achieved.