Design of an LMI-based Polytopic LQR Cruise Controller for an Autonomous Vehicle towards Riding Comfort

In this paper, we present an LMI-based approach for comfort-oriented cruise control of autonomous vehicle. First, vehicle longitudinal dynamics and a corresponding parameter-dependent state-space representation are explained discussed. An polytopic LQR controller is then designed the speed to track reference value in presence noise disturbances, where scheduling parameters functions mass itself. appropriate disturbance force compensation term also included provide smoother response. Then detail how calculated online, using polynomial given desired comfort level (quantified by vertical acceleration absorbed human body) road type characterized roughness. Finally, time-domain simulations illustrate method’s effectiveness.