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

Satzger, Clemens and de Castro, Ricardo (2017) Robust Linear Parameter Varying Model Predictive Control and its Application to Wheel Slip Control. In: IFAC Proceedings Volumes (IFAC-PapersOnline), 50 (1), pp. 1514-1520. 20th World Congress of the International Federation of Automatic Control, 9-14.7.2017, Toulouse. DOI: 10.1016/j.ifacol.2017.08.301

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Official URL: https://ac.els-cdn.com/S2405896317306237/1-s2.0-S2405896317306237-main.pdf?_tid=33b9831a-c305-11e7-bb18-00000aacb35f&acdnat=1509981457_5f7fac6cb2ceae18bd970ab38efdc7a2

Abstract

This paper proposes a robust model predictive controller for linear parameter varying (LPV) systems subject to additive disturbances. The proposed controller relies on the constraint tightening method to guarantee that the MPC's optimization problem remains feasible in the presence of additive disturbances. In order to decrease the conservativeness, the controller synthesis considers bounded parameter rate variations in the construction of the tightened constraints. Relevant features, such as recursive feasibility and stability of the LPV-MPC, are theoretically proven. Finally, the proposed controller is applied to a wheel-slip control problem and its effectiveness is shown by simulation results.

Item URL in elib:https://elib.dlr.de/114422/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Linear Parameter Varying Model Predictive Control and its Application to Wheel Slip Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Satzger, Clemensclemens.satzger (at) dlr.dehttps://orcid.org/0000-0002-0714-3675
de Castro, Ricardoricardo.decastro (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:50
DOI :10.1016/j.ifacol.2017.08.301
Page Range:pp. 1514-1520
Status:Published
Keywords:linear parameter varying systems; robust model predictive control; tube MPC; wheel slip control
Event Title:20th World Congress of the International Federation of Automatic Control
Event Location:Toulouse
Event Type:international Conference
Event Dates:9-14.7.2017
Organizer:IFAC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Satzger, Clemens
Deposited On:06 Nov 2017 16:30
Last Modified:16 Jul 2019 16:30

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