eprintid: 454
rev_number: 11
eprint_status: archive
userid: 7
dir: disk0/00/00/04/54
datestamp: 2011-07-27 08:43:46
lastmod: 2011-08-05 13:40:55
status_changed: 2011-07-27 08:43:46
type: article
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Borrelli, Francesco
creators_name: Bemporad, Alberto
creators_name: Fodor, Michael
creators_name: Hrovat, Davor
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: An MPC/hybrid system approach to traction control
ispublished: pub
subjects: TA
subjects: TJ
divisions: CSA
full_text_status: none
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
abstract: 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.
date: 2006
publication: IEEE Transactions on Control Systems Technology 
volume: 14
number: 3
publisher: IEEE
pagerange: 541-552
id_number: 10.1109/TCST.2005.860527
refereed: TRUE
issn: 1063-6536
related_url_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1624479&isnumber=34103
citation:   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)