Observer-based controller with integral action for longitudinal vehicle speed control

Abstract

In this paper we consider the design and experimental validation of a longitudinal speed control. An observer-based controller with integral action (OBCI) is designed for Linear parameter-varying (LPV) systems. To deal with system modeling inaccuracies and the perturbation/measurements noises, the controller combines in the design procedure the integral action and H∞ technique. Besides, a modified version of the well-known Young's relation is also used. Furthermore, the control design problem is transformed in a convex optimization problem through a set of Linear Matrix Inequalities (LMIs). The performances of the proposed approach are illustrated through experimental results.