relation: http://eprints.imtlucca.it/454/
title: An MPC/hybrid system approach to traction control
creator: Borrelli, Francesco
creator: Bemporad, Alberto
creator: Fodor, Michael
creator: Hrovat, Davor
subject: TA Engineering (General). Civil engineering (General)
subject: TJ Mechanical engineering and machinery
description: 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.
publisher: IEEE
date: 2006
type: Article
type: PeerReviewed
identifier:   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)  
relation: 10.1109/TCST.2005.860527