Robust model predictive control for controlling fast vehicle dynamics

T. Péni, J. Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a simple robust model predictive algorithm for discrete time uncertain systems having relatively fast dynamics, i.e. the time required to compute the next control action is the multiple of the sampling time. The method is based on the following concept: at time k the set of all possible k + N-th states is determined, and in the next N time steps an appropriate feedback gain is constructed, which is capable of robustly stabilizing the system from time k + N. At time k + N the procedure is then repeated. The method was derived from the robust MPC algorithm proposed by Kothare et. al. in [1].

Original languageEnglish
Title of host publication14th Mediterranean Conference on Control and Automation, MED'06
DOIs
Publication statusPublished - 2006
Event14th Mediterranean Conference on Control and Automation, MED'06 - Ancona, Italy
Duration: Jun 28 2006Jun 30 2006

Other

Other14th Mediterranean Conference on Control and Automation, MED'06
CountryItaly
CityAncona
Period6/28/066/30/06

Fingerprint

Model predictive control
Uncertain systems
Sampling
Feedback

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Péni, T., & Bokor, J. (2006). Robust model predictive control for controlling fast vehicle dynamics. In 14th Mediterranean Conference on Control and Automation, MED'06 [1700793] https://doi.org/10.1109/MED.2006.328864

Robust model predictive control for controlling fast vehicle dynamics. / Péni, T.; Bokor, J.

14th Mediterranean Conference on Control and Automation, MED'06. 2006. 1700793.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Péni, T & Bokor, J 2006, Robust model predictive control for controlling fast vehicle dynamics. in 14th Mediterranean Conference on Control and Automation, MED'06., 1700793, 14th Mediterranean Conference on Control and Automation, MED'06, Ancona, Italy, 6/28/06. https://doi.org/10.1109/MED.2006.328864
Péni T, Bokor J. Robust model predictive control for controlling fast vehicle dynamics. In 14th Mediterranean Conference on Control and Automation, MED'06. 2006. 1700793 https://doi.org/10.1109/MED.2006.328864
Péni, T. ; Bokor, J. / Robust model predictive control for controlling fast vehicle dynamics. 14th Mediterranean Conference on Control and Automation, MED'06. 2006.
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