Robust Linear Parameter Varying Model Predictive Control and its Application to Wheel Slip Control

Satzger, Clemens; Castro, Ricardo de; Knoblach, Andreas

doi:10.1016/j.ifacol.2017.08.301

Cited by 7 publications

(5 citation statements)

References 8 publications

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“…Constrained control algorithms have been investigated, including a governor method [19,20] and a model predictive controller [21,22]. Different from these methods, Barrier Lyapunov Function (BLF) will become infinity when the variable approaches the constrained boundary.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time‐Varying Slip Ratio

Shen

et al. 2019

Mathematical Problems in Engineering

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This paper is concerned with the problem of constraint control for an Antilock Braking System (ABS) with time-varying asymmetric slip ratio constraints. A quarter vehicle braking model with system uncertainties and a Burckhardt’s tire model are considered. The Time-varying Asymmetric Barrier Lyapunov Function (TABLF) is embedded into the controllers for handling the time-varying asymmetric slip ratio constraint problems. Two adaptive nonlinear control methods (TABLF1 and TABLF2) based on TABLF are proposed not only to track the optimal slip ratio but also to guarantee no violation on the slip ratio constraints. Simulation results show that the proposed controllers can guarantee no violation on slip ratio constraints and avoid self-locking. In the meantime, TABLF1 controller can achieve a faster convergence rate, shorter stopping time, and shorter distance, compared to TABLF2 controller with the same control parameters.

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Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time‐Varying Slip Ratio

Shen

et al. 2019

Mathematical Problems in Engineering

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“…Until now, constrained control algorithms have been investigated by some researchers. The existing constraint control methods mainly include: set invariance principle, 13,14 command governor, 15,16 reference governor, 17,18 extremum seeking control, 19 model predictive control, 20–23 etc. However, there are some limitations in these algorithms.…”

Section: Introductionmentioning

confidence: 99%

A wheel slip ratio constraint control for ABS based on Tangent Type Barrier Lyapunov Function

Wang

Liu

Wei

et al. 2022

Measurement and Control

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This paper is concerned with the problem of a wheel slip ratio constraint control for the Antilock Braking System (ABS) with external interferences and state constraints. A quarter vehicle braking model with uncertainties is considered, and a constraint control method based on Tangent Type Barrier Lyapunov Function (Tan-BLF) is designed. In addition, due to the selection of the appropriate adaptive control rate, the designed control method can quickly track the ideal slip ratio and ensure that the slip ratio for ABS is always constrained in the stable region even if there are uncertainties in the control system and unknown external disturbances. The simulation results show that the control scheme proposed in this paper, compared with the traditional QLF controller scheme, can make the vehicle wheel slip rate stable at the optimal value early and keep it in the optimal range from the beginning of the simulation, thus reducing the braking distance and braking time of the vehicle, which means that the vehicle can avoid wheel locking. And the adaptive rate is always bounded.

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“…Until now, constrained control algorithms have been investigated by some researchers (Hu et al, 2002;Hu and Lin, 2003;Gilbert and Kolmanovsky, 2002;Kogiso and Hirata, 2009;Bemporad et al, 2002;Satzger et al, 2017;Lv, 2018aLv, , 2018bLv, , 2018c. In Hu (2002Hu ( , 2003, a method based on the notions of the set invariance has been proposed concerning with input and state constraints.…”

Section: Introductionmentioning

confidence: 99%

“…In the method, the reference signal is used as the input of closed-loop systems, and the state and control constraints should not be violated by modifying reference signals. As an online solution in a reasonable time for the constrained control problems, MPC has also been well investigated (Bemporad et al, 2002;Satzger et al, 2017). In Satzger et al (2017), a robust model predictive controller for linear parameter varying (LPV) systems subject to additive disturbances was proposed and applied as a wheel slip control.…”

Section: Introductionmentioning

confidence: 99%

“…As an online solution in a reasonable time for the constrained control problems, MPC has also been well investigated (Bemporad et al, 2002;Satzger et al, 2017). In Satzger et al (2017), a robust model predictive controller for linear parameter varying (LPV) systems subject to additive disturbances was proposed and applied as a wheel slip control. In this method, the controller relies on a constraint tightening method to guarantee that the MPC's optimization problem remains feasible in the presence of additive disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and analysis of output feedback constraint control for antilock braking system based on Burckhardt’s model

Shen

et al. 2019

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Purpose The purpose of this study is to improve vehicles’ brake stability, the problem of constraint control for an antilock braking system (ABS) with asymmetric slip ratio constraints is concerned. A nonlinear control method based on barrier Lyapunov function (BLF) is proposed not only to track the optimal slip ratio but also to guarantee no violation on slip ratio constraints. Design/methodology/approach A quarter vehicle braking model and Burckhardt’s tire model are considered. The asymmetric BLF is introduced into the controller for solving asymmetric slip ratio constraint problems. Findings The proposed controller can implement ABS zero steady-state error tracking of the optimal wheel slip ratio and make slip ratio constraints flexible for various runway surfaces and runway transitions. Simulation and experimental results show that the control scheme can guarantee no violation on slip ratio constraints and avoid self-locking. Originality/value The slip rate equation with uncertainties is established, and BLF is introduced into the design process of the constrained controller to realize the slip rate constrained control.

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Robust Linear Parameter Varying Model Predictive Control and its Application to Wheel Slip Control

Cited by 7 publications

References 8 publications

Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time‐Varying Slip Ratio

Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time‐Varying Slip Ratio

A wheel slip ratio constraint control for ABS based on Tangent Type Barrier Lyapunov Function

Design and analysis of output feedback constraint control for antilock braking system based on Burckhardt’s model

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