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

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

doi:10.1109/CACSD-CCA-ISIC.2006.4776651

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 proceeding › Conference contribution › Academic › peer-review

33 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 language	English
Title of host publication	Proceedings of the 2006 IEEE International Conference on Control Applications
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	231-236
Number of pages	6
ISBN (Print)	0780397959, 9780780397958
DOIs	https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776651
Publication status	Published - 1 Dec 2007
Event	Joint 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 2006 → 6 Oct 2006

Conference

Conference	Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Country/Territory	Germany
City	Munich
Period	4/10/06 → 6/10/06

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10.1109/CACSD-CCA-ISIC.2006.4776651

Cite this

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title = "A hybrid MPC approach to the design of a smart adaptive cruise controller",

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.",

author = "Daniele Corona and Mircea Lazar and {de Schutter}, Bart and Maurice Heemels",

year = "2007",

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note = "Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) ; Conference date: 04-10-2006 Through 06-10-2006",

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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., 4067256, Institute of Electrical and Electronics Engineers, Piscataway, pp. 231-236, Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC), Munich, Germany, 4/10/06. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776651

A hybrid MPC approach to the design of a smart adaptive cruise controller. / Corona, Daniele; Lazar, Mircea; de Schutter, Bart et al.
Proceedings of the 2006 IEEE International Conference on Control Applications. Piscataway: Institute of Electrical and Electronics Engineers, 2007. p. 231-236 4067256.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - A hybrid MPC approach to the design of a smart adaptive cruise controller

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AU - Lazar, Mircea

AU - de Schutter, Bart

AU - Heemels, Maurice

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AB - 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.

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BT - Proceedings of the 2006 IEEE International Conference on Control Applications

PB - Institute of Electrical and Electronics Engineers

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Y2 - 4 October 2006 through 6 October 2006

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

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