Reference
D. Corona, I. Necoara, B. De Schutter, and T. van den Boom, "Robust hybrid MPC
applied to the design of an adaptive cruise controller for a road vehicle,"
Proceedings of the 45th IEEE Conference on Decision and
Control, San Diego, California, pp. 1721-1726, Dec. 2006.
Abstract
Hybrid Model Predictive Control (MPC) for piecewise affine (PWA) systems is
used to solve a control problem for the tracking of a road vehicle. The study
originates from the design of an adaptive cruise controller (ACC), that aims to
track the velocity transmitted by a leading vehicle. In addition we consider
disturbances due to model mismatch and to state measurements. The design
specifications and corresponding constraints related to safety and comfort lead
to nontrivial control problem. We present the results of a method that merges
the use of hybrid MPC for tracking and regulation to a final equilibrium state,
for which we compute the terminal cost and constraint set both in the
deterministic and the perturbed case.
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BibTeX
@inproceedings{CorNec:06-028,
author = {Corona, Daniele and Necoara, Ion and De Schutter, Bart and van
den Boom, Ton},
title = {Robust Hybrid {MPC} Applied to the Design of an Adaptive Cruise
Controller for a Road Vehicle},
booktitle = {Proceedings of the 45th IEEE Conference on Decision and
Control},
address = {San Diego, California},
pages = {1721--1726},
month = dec,
year = {2006}
}