Title :
Multilevel approximate model predictive control and its application to autonomous vehicle active steering
Author :
Seung-Hi Lee ; Chung Choo Chung
Author_Institution :
Electr. & Comput. Eng, Hanyang Univ., Seoul, South Korea
Abstract :
An innovative approximate explicit model predictive control strategy is proposed. A multilevel approximation scheme for state space partitioning is applied, which relies on an adaptive domain decomposition strategy using multidimensional tree techniques. Polytopes are generated from such state space partitioning, for which equivalent state feedback gains are computed such that approximate explicit controls can be simply computed. The proposed scheme requires no online optimization and thus computing control using pre-computed control gains is extremely fast. Through an application to autonomous vehicle lateral control, it is shown that the proposed method can achieve a significant improvement of computation time and approximation quality over other approximate predictive control methods.
Keywords :
approximation theory; predictive control; remotely operated vehicles; state feedback; state-space methods; steering systems; trees (mathematics); adaptive domain decomposition strategy; approximate explicit controls; autonomous vehicle active steering; computing control; control gains; multidimensional tree techniques; multilevel approximate model predictive control strategy; multilevel approximation scheme; polytopes; state feedback gains; state space partitioning; Aerospace electronics; Approximation methods; Indexes; Optimization; Standards; Vectors; Vehicles;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760795