Linear time-varying model predictive control and its application to active steering systems: Stability analysis and experimental validation
Linear time-varying model predictive control and its application to active steering systems: Stability analysis and experimental validation
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DOI：
10.1002/rnc.1245
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发表时间：
2008-05-25
影响因子：
3.9
通讯作者：
Hrovat, D.
中科院分区：
文献类型：
--
作者：
Falcone, P.;Borrelli, F.;Hrovat, D.
提出了一种用于控制自主车辆主动前转向系统的模型预测控制方法。在每个时间步，假设轨迹在有限的水平上是已知的，MPC控制器计算前转向角，以便在光滑的道路上以尽可能高的进入速度最好地跟踪期望的轨迹。我们从(Int.J.Veh。奥顿。系统2005年；3(2-4)：265-291；IEEE翻译。控制。系统泰克诺。2007；15(3))，并基于非线性车辆模型(线性时变(LTV)MPC)的连续在线线性化来描述MPC问题。我们给出了这类LTV MPC格式稳定的充分条件。对于AFS控制问题，我们将LTV MPC方案与(IEEE Transans)中的LTV MPC方案进行了比较。控制。系统泰克诺。2007；15(3))，其中实施了稳定，但有特别的限制。在17m/S以下的结冰路面上进行的模拟和实验测试表明了LTV MPC公式的有效性。版权所有(C)2007 John Wiley&Sons，Ltd.
A model predictive control (MPC) approach for controlling an active front steering (AFS) system in an autonomous vehicle is presented. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to best follow the desired trajectory on slippery roads at the highest possible entry speed. We start from the results presented in (Int. J. Veh. Auton. Syst. 2005; 3(2-4):265-291; IEEE Trans. Contr. Syst. Technol. 2007; 15(3)) and formulate the MPC problem based on successive online linearization of the nonlinear vehicle model (linear time-varying (LTV) MPC). We present a sufficient stability condition for such LTV MPC scheme. The condition is derived for a general class of nonlinear discrete time systems and results into an additional convex constraint to be included in the LTV MPC design.For the AFS control problem, we compare the proposed LTV MPC scheme with the LTV MPC scheme in (IEEE Trans. Contr. Syst. Technol. 2007; 15(3)) where stability has been enforced with an ad hoc constraint. Simulation and experimental tests up to 17 m/s on icy roads show the effectiveness of the LTV MPC formulation. Copyright (c) 2007 John Wiley & Sons, Ltd.