模型预测控制
控制理论(社会学)
混合动力系统
控制工程
牵引(地质)
计算机科学
控制器(灌溉)
最优控制
控制系统
分段
仿射变换
工程类
控制(管理)
数学优化
数学
机器学习
电气工程
数学分析
人工智能
生物
机械工程
纯数学
农学
作者
Francesco Borrelli,Alberto Bemporad,Michael Fodor,Davor Hrovat
标识
DOI:10.1109/tcst.2005.860527
摘要
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.
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