A hybrid MPC approach to the design of a smart adaptive cruise controller

Daniele Corona, Mircea Lazar, Bart de Schutter, Maurice Heemels

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

23 Citations (Scopus)
2 Downloads (Pure)

Abstract

In this paper we investigate the possibility of applying the hybrid Model Predictive Control (MPC) framework to solve a control problem regarding tracking of a moving vehicle. The study originates from the design of an adaptive cruise controller (ACC) of a Smart car, that aims to closely follow a reference trajectory transmitted by a leading vehicle.The physical behavior of the Smart and the constraints arising from the specifications related to safety and security issues make the hybrid MPC framework suitable for this task. An adaptation of the terminal cost and constraint set MPC approach,which is commonly used for fixed set-point regulation,is employed in order to achieve good tracking of a timevarying reference trajectory. The simulation results indicate the effectiveness of the developed hybrid MPC algorithm and the industrial feasibility with respect to on-line computation restrictions.
Original languageEnglish
Title of host publicationProceedings of the 2006 IEEE International Conference on Control Applications
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages231-236
Number of pages6
ISBN (Print)0780397959, 9780780397958
DOIs
Publication statusPublished - 1 Dec 2007
EventJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich, Germany
Duration: 4 Oct 20066 Oct 2006

Conference

ConferenceJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
CountryGermany
CityMunich
Period4/10/066/10/06

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    Corona, D., Lazar, M., de Schutter, B., & Heemels, M. (2007). A hybrid MPC approach to the design of a smart adaptive cruise controller. In Proceedings of the 2006 IEEE International Conference on Control Applications (pp. 231-236). [4067256] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776651