Comparison of optimization-based strategies for constrained control of Auto-Steering systems

Iris Ballesteros-Tolosana (1, 2) , Sorin Olaru (3, 2) , Pedro Rodriguez-Ayerbe (2) , Guillermo Pita-Gil (1) , Renaud Deborne (1)

1 Technocentre Renault [Guyancourt]
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

— This paper presents a comparison between two approaches addressing vehicle lateral dynamics control. In the framework of Auto-Steering for target tracking application, Model Predictive Control (MPC) and Interpolation Based Control (IBC) are studied on a similar model-based design. Both control strategies are of interest by their ability to treat problem constraints and actuator limits in a systematic manner, as well as their capability to include changes of the behavior when the speed of the vehicle changes, yielding a linear parameter varying system. Speed variation for the MPC controller brings an uncertain model, that will be described by a polytopic class of dynamics. Thanks to the online measurement of the parameter, the system dynamics will be computed at each sample time to solve the optimization problem. Parameter-dependent Lyapunov functions and positive set invariance theory are used to ensure stability and feasibility. Interpolation Based control is a different approach, whose principle is to use a control action constructed as an interpolation between two computed extreme values. Each time, two linear programming problems are solved, which makes this approach to be a suitable trade-off between performance and computation cost.

Domaines: Automatique / Robotique

Iris Ballesteros-Tolosana, Sorin Olaru, Pedro Rodriguez-Ayerbe, Guillermo Pita-Gil, Renaud Deborne. Comparison of optimization-based strategies for constrained control of Auto-Steering systems. 15th European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. ⟨10.1109/ecc.2016.7810518⟩. ⟨hal-01429244⟩