Adaptive Cruise Control: A Model Reference Adaptive Control Approach

This paper presents a Model Reference Adaptive Control (MRAC) based framework for vehicle adaptive cruise control systems. The linear longitudinal dynamic model is created with uncertainties in the state and input matrix. The controller structure aims to handle these uncertainties and also maintains the desired distance with the lead vehicle. To evaluate the performance of the proposed controller, several simulation studies are conducted by comparing the results with a linear state feedback controller via MATLAB/Simulink. Whereas the linear controller underperforms under uncertain conditions, it is seen that MRAC achieves the desired performance despite model uncertainties.