Hybrid Parameter-Varying Model Predictive Control for lateral vehicle stabilization

2007 European Control Conference, ECC 2007

Volumn , Issue , 2007, Pages 1068-1075

  Besselmann, Thomas ^a   Rostalski, Philipp ^a   Morari, Manfred ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

FORECASTING; NONLINEAR SYSTEMS; PREDICTIVE CONTROL SYSTEMS; STABILIZATION;

ACHIEVABLE PERFORMANCE; COMPUTATIONAL EFFORT; CONTROL PERFORMANCE; HYBRID PARAMETERS; LATERAL DYNAMICS; ONLINE COMPUTATIONS; PARAMETER-VARYING SYSTEMS; VEHICLE STABILIZATION;

MODEL PREDICTIVE CONTROL;

EID: 84927766800     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.2007.7068498     Document Type: Conference Paper

References (16)

1. J. Ackermann, "The human reaction time-what can control do to overcome it" 25 years of nonlinear control at Ecole des Mines de Paris" Keynote lecture, March 2001.
2. J. Ackermann, J. Guldner, and V. Utkin, "A robust nonlinear control approach to automatic path tracking of a car," in Proc. IEEE Int. Conf. Control '94, Coventry, UK, March 1994, pp. 196-201.
3. T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, and D. Hrovat, "Predictive control approach to autonomous vehicle steering," in Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA, June 14-16 2006.
4. R. Johansson and A. Rantzer, Eds., Nonlinear and Hybrid Systems in Automotive Control. Springer, 2003.
5. D. Hrovat, J. Asgari, and M. Fodor, Automotive Mechatronics Systems, C. Leondes, Ed. In "Mechatronics Systems, Techniques and Applications", pp. 1-98: Gordon and Breach Science Publishers, 2000.
6. D. Margolis and J. Asgari, "Multipurpose models of vehicle dynamics for controller design," SAE Technical Papers, 1991.
7. E. Bakker, L. Nyborg, and H. Pacejka, "Tyre modeling for use in vehicle dynamics studies," SAE Technical Papers, vol. 870421, 1987.
8. A. Burke and O. Olatunbosun, "Static tyre/road interaction modelling," Meccanica, vol. 32, pp. 473-479, October 1997.
9. P. Apkarian, G. Becker, P. Gahinet, and H. Kajiwara, "LMI techniques in control engineering from theory to practice," in Workshop Notes CDC 1996, Kobe, Japan, 1996.
10. C. Scherer, "LPV control and full block multipliers," Automatica, vol. 37, no. 3, pp. 361-375, March 2001.
11. J. Huang and M. Tomizuka, "LTV controller design for vehicle lateral control under fault in rear sensors," IEEE Transaction of Mechatronics, vol. 10, no. 1, February 2005.
12. C. Garcia, D. Prett, and M. Morari, "Model predictive control: Theory and practice-a survey," Automatica, vol. 25, pp. 335-348, 1989.
13. D. Mayne, J. Rawlings, C. Rao, and P. Scokaert, "Constrained model predictive control: Stability and optimality," Automatica, vol. 36, no. 6, pp. 789-814, June 2000.
14. J. Löfberg, "Yalmip: A toolbox for modeling and optimization in matlab," in Proceedings of the CACSD Conference, Taipei, Taiwan, 2004, available from http://control. ee. ethz. ch/joloef/yalmip. php.
15. F. Borrelli, M. Baotic, A. Bemporad, and M. Morari, "Dynamic programming for constrained optimal control of discrete-time linear hybrid systems," Automatica, vol. 41, pp. 1709-1721, October 2005.
16. M. Kvasnica, P. Grieder, M. Baotic, and M. Morari, "Multi-parametric toolbox (MPT)," Hybrid Systems: Computation and Control, pp. 448-462, March 2004.