Horizon-1 predictive control of networked controlled vehicle drivetrains

C.F. Caruntu, M. Lazar, S. Di Cairano, R.H. Gielen, P.P.J. Bosch, van den

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

6 Citations (Scopus)
59 Downloads (Pure)


Design of a controller that damps driveline oscillations, while compensating network-induced time-varying delays, can be a challenging problem considering that vehicle drivetrains are characterized by fast dynamics that are subject to physical and control constraints. As such, the goal of this paper is to provide a control design methodology that can cope with all these challenges and limitations and still yield an effective solution. To this end, firstly, a method for determining a worst case upper bound on the delays that can be introduced by a Controller Area Network (CAN) is presented. Then, a polytopic approximation technique is applied to obtain a discrete-time model of the closed-loop CAN system. Thirdly, a horizon-1 predictive controller based on flexible control Lyapunov functions is designed for the resulting model with polytopic uncertainty and hard constraints. Several tests performed on a benchmark model indicate that the proposed design methodology can handle both the performance/physical constraints and the strict limitations on the computational complexity.
Original languageEnglish
Title of host publicationPreprints of the 18th IFAC World Congress, August 28 - September 02, 2011, Milano, Italy
Publication statusPublished - 2011
Event18th World Congress of the International Federation of Automatic Control (IFAC 2011 World Congress) - Milano, Italy
Duration: 28 Aug 20112 Sept 2011
Conference number: 18


Conference18th World Congress of the International Federation of Automatic Control (IFAC 2011 World Congress)
Abbreviated titleIFAC 2011
Internet address


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