Autonomous cruise control of car using LQR and H2 control algorithm

Abstract

This paper describes a modeling and controlling of autonomous cruise control of autonomous car using bond graph modeling. We developed model using bond graph formulation by incorporating actuator dynamics and finally state space representation. We later subjected this model to robust control theory to modify the nominal model to standard format used for parametric uncertainty. We finally synthesized using LQR and H2 control technique and compared the results of a feedback system.