TY  - JOUR
N2  - 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.
JF  - IEEE Transactions on Control Systems Technology 
SN  - 1063-6536
Y1  - 2006///
AV  - none
ID  - eprints454
TI  - An MPC/hybrid system approach to traction control
UR  - http://eprints.imtlucca.it/454/
IS  - 3
KW  - 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
VL  - 14
PB  - IEEE
EP  - 552
SP  - 541
A1  - Borrelli, Francesco
A1  - Bemporad, Alberto
A1  - Fodor, Michael
A1  - Hrovat, Davor
ER  -