| bibtype |
J -
Journal Article
|
| ARLID |
0479178 |
| utime |
20240111140947.0 |
| mtime |
20171009235959.9 |
| SCOPUS |
85030787288 |
| WOS |
000447047900004 |
| DOI |
10.1109/TCST.2017.2747504 |
| title
(primary) (eng) |
Toward a Smart Car: Hybrid Nonlinear Predictive Controller With Adaptive Horizon |
| specification |
| page_count |
12 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0253228 |
| ISSN |
1063-6536 |
| title
|
IEEE Transactions on Control Systems Technology |
| volume_id |
26 |
| volume |
6 (2018) |
| page_num |
1970-1981 |
| publisher |
| name |
Institute of Electrical and Electronics Engineers |
|
|
| keyword |
Autonomous vehicles |
| keyword |
hybrid systems |
| keyword |
nonlinear model predictive control (MPC) |
| keyword |
optimization |
| keyword |
vehicle control |
| author
(primary) |
| ARLID |
cav_un_auth*0281469 |
| name1 |
Pčolka |
| name2 |
M. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0305702 |
| name1 |
Žáčeková |
| name2 |
E. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0021057 |
| name1 |
Šebek |
| name2 |
M. |
| country |
CZ |
|
| source |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0347203 |
| project_id |
GA17-04682S |
| agency |
GA ČR |
| country |
CZ |
|
| abstract
(eng) |
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. |
| result_subspec |
WOS |
| RIV |
BC |
| FORD0 |
10000 |
| FORD1 |
10200 |
| FORD2 |
10201 |
| reportyear |
2019 |
| num_of_auth |
4 |
| mrcbC52 |
4 A hod 4ah 20231122142712.7 |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0275243 |
| cooperation |
| ARLID |
cav_un_auth*0300364 |
| name |
Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 121 35 Prague, Czech Republic |
| institution |
ČVUT v Praze, FEL |
| country |
CZ |
|
| mrcbC64 |
1 Department of Control Theory UTIA-B 20205 AUTOMATION & CONTROL SYSTEMS |
| confidential |
S |
| article_num |
08059760 |
| mrcbC86 |
3+4 Article Automation Control Systems|Engineering Electrical Electronic |
| mrcbT16-e |
AUTOMATIONCONTROLSYSTEMS|ENGINEERINGELECTRICALELECTRONIC |
| mrcbT16-j |
1.538 |
| mrcbT16-s |
1.811 |
| mrcbT16-B |
84.752 |
| mrcbT16-D |
Q1 |
| mrcbT16-E |
Q1 |
| arlyear |
2018 |
| mrcbTft |
\nSoubory v repozitáři: celikovsky-0479178.pdf |
| mrcbU14 |
85030787288 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000447047900004 WOS |
| mrcbU56 |
6,39 MB |
| mrcbU63 |
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 |
|