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An MPC/hybrid system approach to traction control

Borrelli, Francesco and Bemporad, Alberto and Fodor, Michael and Hrovat, Davor An MPC/hybrid system approach to traction control. IEEE Transactions on Control Systems Technology , 14 (3). pp. 541-552. ISSN 1063-6536 (2006)

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This paper describes a hybrid model and a model predictive control (MPC) strategy for solving a traction control problem. The problem is tackled in a systematic way from modeling to control synthesis and implementation. The model is described first in the Hybrid Systems Description Language to obtain a mixed-logical dynamical (MLD) hybrid model of the open-loop system. For the resulting MLD model, we design a receding horizon finite-time optimal controller. The resulting optimal controller is converted to its equivalent piecewise affine form by employing multiparametric programming techniques, and finally experimentally tested on a car prototype. Experiments show that good and robust performance is achieved in a limited development time by avoiding the design of ad hoc supervisory and logical constructs usually required by controllers developed according to standard techniques.

Item Type: Article
Identification Number: 10.1109/TCST.2005.860527
Uncontrolled Keywords: control synthesis; horizon finite time optimal control; hybrid systems description language; mixed logical dynamical hybrid model; model predictive control; multiparametric programming; open loop system; piecewise affine form; traction control; control system synthesis; open loop systems; predictive control; time optimal control; time-varying systems; traction; tyres; vehicle dynamics
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:43
Last Modified: 05 Aug 2011 13:40
URI: http://eprints.imtlucca.it/id/eprint/454

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