%P 541-552
%J IEEE Transactions on Control Systems Technology 
%T An MPC/hybrid system approach to traction control
%R 10.1109/TCST.2005.860527
%N 3
%V 14
%A Francesco Borrelli
%A Alberto Bemporad
%A Michael Fodor
%A Davor Hrovat
%D 2006
%I IEEE
%L eprints454
%X 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.
%K 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