Portal de Periódicos da CAPES

An MPC/hybrid system approach to traction control

2006; Institute of Electrical and Electronics Engineers; Volume: 14; Issue: 3 Linguagem: Inglês

10.1109/tcst.2005.860527

2374-0159

Francesco Borrelli, Alberto Bemporad, M. Fodor, Davor Hrovat,

Real-time simulation and control systems

This paper describes a hybrid model and a model predictive control (MPC) strategy for solving a traction control problem. The problem is tackled in a systematic way from modeling to control synthesis and implementation. The model is described first in the Hybrid Systems Description Language to obtain a mixed-logical dynamical (MLD) hybrid model of the open-loop system. For the resulting MLD model, we design a receding horizon finite-time optimal controller. The resulting optimal controller is converted to its equivalent piecewise affine form by employing multiparametric programming techniques, and finally experimentally tested on a car prototype. Experiments show that good and robust performance is achieved in a limited development time by avoiding the design of ad hoc supervisory and logical constructs usually required by controllers developed according to standard techniques.