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    Online hybrid model predictive controller design for cruise control of automobiles

    , Article ASME 2017 Dynamic Systems and Control Conference, DSCC 2017, 11 October 2017 through 13 October 2017 ; Volume 1 , 2017 ; 9780791858271 (ISBN) Merat, K ; Abbaszadeh Chekan, J ; Salarieh, H ; Alasty, A ; Sharif University of Technology
    Abstract
    In the proposed study, a Hybrid Model Predictive Controller is introduced for cruise control of an automobile model. The presented model consists of the engine, the gearbox, and the transmission dynamics, where the aerodynamics force and elastic friction between the tires and road are taken into account. Through Piecewise Linearization of nonlinearities in the system; (torque)-(throttle)-(angular velocity) of engine and (aerodynamic drag force)-(automobile velocity), a comprehensive piecewise linear model for the system is obtained. Then combined with the switch and shift between engaged gears in gearbox, the Piecewise Affine (PWA) model for the vehicle dynamics is acquired. As far as the...