0479178 20240111140947.020171009235959.9 85030787288 000447047900004 10.1109/TCST.2017.2747504 12 s. P cav_un_epca*02532281063-6536266 (2018)1970-1981Institute of Electrical and Electronics Engineers Autonomous vehicles hybrid systems nonlinear model predictive control (MPC) optimization vehicle control cav_un_auth*0281469 Pčolka M. CZ cav_un_auth*0305702 Žáčeková E. CZ cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021057 Šebek M. CZ http://library.utia.cas.cz/separaty/2018/TR/celikovsky-0479178.pdf 6,39 MB cav_un_auth*0347203 GA17-04682S GA ČR CZ This paper focuses on the development of an optimization algorithm for car motion predictive control that addresses both hybrid car dynamics and hybrid minimization criterion. Instead of solving computationally demanding nonlinear mixed-integer programming task or approximating the hybrid dynamics/criterion, the Hamiltonian-switching hybrid nonlinear predictive control algorithm developed in this paper incorporates the information about hybridity directly into the optimization routine. To decrease the time complexity, several adaptive prediction horizon approaches are proposed, and for some of them, it is shown that they preserve maneuverability-related properties of the car. All developed alternatives are verified on an example of a motion control of a racing car and compared with the approximation-based nonlinear predictive control and a commercial product. Moreover, a sensitivity analysis examining robustness of the algorithm is included as well. WOS BC 10000 10200 10201 2019 4 4 A hod 4ah 20231122142712.7 RVO:67985556 http://hdl.handle.net/11104/0275243 cav_un_auth*0300364 Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 121 35 Prague, Czech Republic ČVUT v Praze, FEL CZ 1 Department of Control Theory UTIA-B 20205 AUTOMATION & CONTROL SYSTEMS S 08059760 3+4 Article Automation Control Systems|Engineering Electrical Electronic ENGINEERING.ELECTRICAL&ELECTRONIC|AUTOMATION&CONTROLSYSTEMS 5.715 2.171 6.2 0.02228 1.538 13739 1.811 5.245 205 Q1 84.752 89.4 Q1 Q1* 1.62 Q1 89.516 2018 Soubory v repozitáři: celikovsky-0479178.pdf 85030787288 SCOPUS PUBMED 000447047900004 WOS 6,39 MB cav_un_epca*0253228 IEEE Transactions on Control Systems Technology 1063-6536 1558-0865 Roč. 26 č. 6 2018 1970 1981 Institute of Electrical and Electronics Engineers