Guaranteed cost approach for robust model predictive control of uncertain linear systems

Massera, Carlos M.; Terra, Marco H.; Wolf, Denis F.

doi:10.23919/acc.2017.7963590

Cited by 6 publications

(7 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This is one of the main advantages of tubebased approaches. Meanwhile, other RMPC methods may grow exponentially [22], [26] or quadratically [16], [24].…”

Section: A Tube-based Guaranteed Cost Model Predictive Controlmentioning

confidence: 99%

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Massera,

Santos,

Terra

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based guaranteed cost model predictive controller for autonomous vehicles able to avoid front and rear tire saturation and to track a provided reference trajectory up to the limits of handling of the vehicle. Such an approach ensures the vehicle will remain within its safe operational envelope; therefore, guaranteeing both stability and performance of the vehicle, including highly dynamic maneuvers that may be necessary for emergency conditions. We also propose a new conservative approximation of the nonlinear vehicle dynamics to a linear system subject to normbounded multiplicative uncertainties and a new maximal robust controllable invariant set for vehicle dynamics. It consists of a larger feasible state space region when compared to previously proposed invariant sets. Finally, we present both simulation and in-vehicle results of the performance of the proposed approach.

show abstract

“…This is one of the main advantages of tubebased approaches. Meanwhile, other RMPC methods may grow exponentially [22], [26] or quadratically [16], [24].…”

Section: A Tube-based Guaranteed Cost Model Predictive Controlmentioning

confidence: 99%

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Massera,

Santos,

Terra

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…For further details on the method and its robustness proofs, the reader should refer to [13] and to the numerical example implementation available online 1 .…”

Section: Guaranteed Cost Model Predictive Controllermentioning

confidence: 99%

“…The disregard of such uncertainties can lead to poor closed-loop performance of MPCs and, consequently, to the violation of state and control input constraints [17]. Massera et al [13] have proposed a Robust MPC technique, entitled Guaranteed Cost Model Predictive Control (GCMPC), able to guarantee robust stability, robust feasibility and an upper bound to a MPC optimization problem cost for linear system with multiplicative parametric uncertainties. This paper proposes a Guaranteed Cost Model Predictive Controller Driver Assistance System able to avoid front and rear tire saturation and to track the drivers intent up to the limits of handling for a vehicle with uncertain tire parameters.…”

Section: Introductionmentioning

confidence: 99%

Guaranteed Cost Model Predictive Control-based Driver Assistance system for vehicle stabilization under tire parameters uncertainties

Massera¹,

Terra²,

Wolf³

2016

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)

Self Cite

View full text Add to dashboard Cite

Abstract-Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an alternative to mitigate such accidents. This technology enables the decoupling of the front wheel steering angles from the driver hand wheel angle and, consequently, the measurement of road/tire friction limits and the development of novel control systems capable of ensuring vehicle stabilization and safety. However, vehicle safety boundaries are highly dependent on tire characteristics which vary significantly with temperature, wear and the tire manufacturing process. Therefore, design of autonomous vehicle and driver assistance controllers cannot assume that these characteristics are constant or known. Thus, this paper proposes a Guaranteed Cost Model Predictive Controller Driver Assistance System able to avoid front and rear tire saturation and to track the drivers intent up to the limits of handling for a vehicle with uncertain tire parameters. Simulation results show the performance of the proposed approach under time-varying uniformly distributed disturbances.

show abstract

“…is method is applicable already in numerous domains in industry [6] as regulation and control. Generally, real processes are nonlinear, complex, and uncertain [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Constrained Uncertain System Stabilization with Enlargement of Invariant Sets

2020

View full text Add to dashboard Cite

An enhanced method able to perform accurate stability of constrained uncertain systems is presented. The main objective of this method is to compute a sequence of feedback control laws which stabilizes the closed-loop system. The proposed approach is based on robust model predictive control (RMPC) and enhanced maximized sets algorithm (EMSA), which are applied to improve the performance of the closed-loop system and achieve less conservative results. In fact, the proposed approach is split into two parts. The first is a method of enhanced maximized ellipsoidal invariant sets (EMES) based on a semidefinite programming problem. The second is an enhanced maximized polyhedral set (EMPS) which consists of appending new vertices to their convex hull to minimize the distance between each new vertex and the polyhedral set vertices to ensure state constraints. Simulation results on two examples, an uncertain nonisothermal CSTR and an angular positioning system, demonstrate the effectiveness of the proposed methodology when compared to other works related to a similar subject. According to the performance evaluation, we recorded higher feedback gain provided by smallest maximized invariant sets compared to recently studied methods, which shows the best region of stability. Therefore, the proposed algorithm can achieve less conservative results.

show abstract

Guaranteed cost approach for robust model predictive control of uncertain linear systems

Cited by 6 publications

References 25 publications

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Guaranteed Cost Model Predictive Control-based Driver Assistance system for vehicle stabilization under tire parameters uncertainties

Constrained Uncertain System Stabilization with Enlargement of Invariant Sets

Contact Info

Product

Resources

About