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
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : — 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.
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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⟩



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