Hierarchical Switching Control of Longitudinal Acceleration With Large Uncertainties

In this study, a hierarchical switching control strategy based on robust control theory is proposed to control longitudinal acceleration with large uncertainties. A model set, which is made up of four multiplicative-uncertainty models, is built to cover all uncertainties that arise from unmodeled dynamics and parameter uncertainties. The corresponding controller set is designed by LMI approach, which confirms the robust performance. Considering the characteristics of robust control systems, a switching index function by estimating model uncertainties is designed to determine when and which controller should be switched into the closed loop. Both theoretical analysis and experiments have been carried out to validate the effectiveness of the proposed strategy. And the results show that it has good performance of robust stability and tracking.