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An MPC/Hybrid System Approach to Traction Control


F. Borrelli, A. Bemporad, M. Fodor, D. Hrovat

IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp. 541 - 552

This paper describes a hybrid model and a model predictive control (MPC) strategy for solving a traction control problem. The problem is tackled in a systematic way from modeling to control synthesis and implementation. The model is described first in the Hybrid Systems Description Language to obtain a mixed-logical dynamical (MLD) hybrid model of the open-loop system. For the resulting MLD model, we design a receding horizon finite-time optimal controller. The resulting optimal controller is converted to its equivalent piecewise affine form by employing multiparametric programming techniques, and finally experimentally tested on a car prototype. Experiments show that good and robust performance is achieved in a limited development time by avoiding the design of ad hoc supervisory and logical constructs usually required by controllers developed according to standard techniques.
  • Index Terms—Antiskid systems, hybrid systems, model predictive control, multiparametric programming, optimal control, traction control.

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    % Autogenerated BibTeX entry
    @Article { BorEtal:2006:IFA_2954,
        author={F. Borrelli and A. Bemporad and M. Fodor and D. Hrovat},
        title={{An MPC/Hybrid System Approach to Traction Control}},
        journal={IEEE Transactions on Control Systems Technology},
        pages={541 -- 552},
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