Robust hybrid MPC applied to the design of an adaptive cruise controller for a road vehicle

摘要

Hybrid model predictive control (MPC) for piece-wise affine (PWA) systems is used to solve a control problem for the tracking of a road vehicle. The study originates from the design of an adaptive cruise controller (ACC), that aims to track the velocity transmitted by a leading vehicle. In addition we consider disturbances due to model mismatch and to state measurements. The design specifications and corresponding constraints related to safety and comfort lead to nontrivial control problem. We present the results of a method that merges the use of hybrid MPC for tracking and regulation to a final equilibrium state, for which we compute the terminal cost and constraint set both in the deterministic and the perturbed case