Predictive Adaptive Cruise Control Using a Customized ECU

Brugnolli, Mateus Mussi; Angélico, Bruno Augusto; Laganá, Armando Antônio Maria

doi:10.1109/access.2019.2907011

Cited by 22 publications

(24 citation statements)

References 25 publications

(33 reference statements)

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“…Although there is already a rich theory in this field, the applications are heavily limited to theoretical works [12]. Among the methods developed to circumvent this issue so far, the approach based on slacked terminal constraints seems to be more adequate for practical implementation purposes, with recent applications reported in the literature, one implementation in a crude oil distillation [13] and the other in an inverted pendulum mechatronic-like fast dynamic system, namely, customized engine control unit [14].…”

Section: Motivationmentioning

confidence: 99%

An Implementable and Stabilizing Model Predictive Control Strategy for Inverted Pendulum-Like Behaved Systems

Abreu¹,

Martins²,

Schnitman³

2021

Automation and Control

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In control theory, the inverted pendulum is a class of dynamic systems widely used as a benchmarking for evaluating several control strategies. Such a system is characterized by an underactuated behavior. It is also nonlinear and presents openloop unstable and integrating modes. These dynamic features make the control more difficult, mainly when the controller synthesis seeks to include constraints and the guarantee of stability of the closed-loop system. This chapter presents a stabilizing model predictive control (MPC) strategy for inverted pendulum-like behaved systems. It has an offset-free control law based on an only optimization problem (one-layer control formulation), and the Lyapunov stability of the closedloop system is achieved by adopting an infinite prediction horizon. The controller feasibility is also assured by imposing a suitable set of slacked terminal constraints associated with the unstable and integrating states of the system. The effectiveness of the implementable and stabilizing MPC controller is experimentally demonstrated in a commercial-didactic rotary inverted pendulum prototype, considering both cases of stabilization of the pendulum in the upright position and the output tracking of the rotary arm angle.

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Section: Motivationmentioning

confidence: 99%

An Implementable and Stabilizing Model Predictive Control Strategy for Inverted Pendulum-Like Behaved Systems

Abreu¹,

Martins²,

Schnitman³

2021

Automation and Control

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“…To the best of our knowledge, most of the studies in topic of ACC focuses on algorithm of platoon cruise and distance control [27]- [30], only a few studies discussed the parameter setting problem. Wang et al [31] analyzed NGSim dataset statistically and gave a suggestion about headway setting.…”

Section: Hw = Dist/vxmentioning

confidence: 99%

Data Based Parameter Setting Method for Adaptive Cruise Control

Chen

Yan

2020

IEEE Access

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Recent years, advanced driver assistance system (ADAS) has been highly developed and widely used. Among various ADAS techniques adaptive cruise control (ACC) is the fundamental of longitudinal control. The tradeoffs among safety, comfort and traffic efficiency are the main issue in ACC design process. In this study, large amount of road tests was carried out to explore the circumstance characteristics in ACC usages scenarios. Based on statistical analysis of road test data, a method for ACC safety performance evaluation is proposed. Furthermore, the effects of parameters such as following distance, jerk limit and time delay to ACC safety performance are discussed. Finally, a way of ACC parameter designing is developed, this method can obtain best comfort and traffic efficiency after safety request is guaranteed. In this study, regulations and realistic constrains of production vehicles are considered. Different from theoretical simulation, production-oriented ACC system is restricted in maximum deceleration, maximum braking jerk, detection latency, actuation latency, calculation capacity etc. For this reason, all the analysis is based on statistical results and requests from actual products, no computationally expensive optimal method is implemented. The proposed method may not get optimal results in theoretical simulation but is very instructive in production-oriented ACC system design.

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“…Com isso, o controlador possui garantia de estabilidade nominal e resulta em um problema de programação quadrática (QP, do inglês Quadratic Programming) queé sempre viável, tornando-o adequado para implementação. Apesar das vantagens deste controlador MPC, sua implementação em sistemas reais, assim como a vasta maioria dos controladores MPC estabilizantes propostos até então, ainda se encontra em andamento (Brugnolli et al, 2019;Silva et al, 2020), contudo, aplicações envolvendo CLP não foram descritas na literatura até então.…”

Section: Introductionunclassified

Controle Preditivo Com Garantia De Estabilidade E Factibilidade Embarcado Em Um CLP Industrial

Santana

Martins

Chagas

2020

Anais Do Congresso Brasileiro De Automática 2020

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Este trabalho apresenta a implementação de uma estratégia de controle preditivo baseado em modelo estabilizante com garantia de factibilidade em um controlador logico programavel (CLP) industrial, tratando-se de uma aplicação ainda não descrita na literatura. A formulação deste controlador resulta em um problema de programação quadrática que ée sempre viável, por isso, torna-se uma opção atrativa para aplicações industriais. Para calcular a lei de controle estabilizante ée proposta a utilização da téecnica de otimização ADMM (Alternating Direction Method of Multipliers), viabilizando o controle de um sistema eletromecânico de dinâmica rápida em um CLP com baixa capacidade de memória e desempenho computacional limitado. Resultados de simulação e experimentais ilustram o bom desempenho e a robustez do controlador MPC implementado, o qual é capaz de tolerar certo grau de desassociação no modelo da planta, apontando-o como uma estratégia de controle adequada para aplicações práticas.

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Predictive Adaptive Cruise Control Using a Customized ECU

Cited by 22 publications

References 25 publications

An Implementable and Stabilizing Model Predictive Control Strategy for Inverted Pendulum-Like Behaved Systems

An Implementable and Stabilizing Model Predictive Control Strategy for Inverted Pendulum-Like Behaved Systems

Data Based Parameter Setting Method for Adaptive Cruise Control

Controle Preditivo Com Garantia De Estabilidade E Factibilidade Embarcado Em Um CLP Industrial

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