Model-based and Koopman-based predictive control: a braking control systems comparison

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00373352" target="_blank" >RIV/68407700:21230/23:00373352 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1016/j.ifacol.2023.12.045" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2023.12.045</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2023.12.045" target="_blank" >10.1016/j.ifacol.2023.12.045</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Model-based and Koopman-based predictive control: a braking control systems comparison

Popis výsledku v původním jazyce

Anti-locking Braking systems are crucial safety systems in modern vehicles. In this work, we investigate the possibility to use Model Predictive Control (MPC) for braking systems by considering three different models identified from data. Specifically, we consider two models, whose structure and the identification procedure are driven by physics principles, and a third black-box modeling approach that relies on Koopman theory. By comparing the effectiveness of the three resulting MPC schemes in a high-fidelity simulation environment, we show that Koopman-based MPC can generally be a viable solution for the design of braking controllers, which might not be the case of nonlinear MPC or approximated scheme like the second one we test.

Název v anglickém jazyce

Model-based and Koopman-based predictive control: a braking control systems comparison

Popis výsledku anglicky

Anti-locking Braking systems are crucial safety systems in modern vehicles. In this work, we investigate the possibility to use Model Predictive Control (MPC) for braking systems by considering three different models identified from data. Specifically, we consider two models, whose structure and the identification procedure are driven by physics principles, and a third black-box modeling approach that relies on Koopman theory. By comparing the effectiveness of the three resulting MPC schemes in a high-fidelity simulation environment, we show that Koopman-based MPC can generally be a viable solution for the design of braking controllers, which might not be the case of nonlinear MPC or approximated scheme like the second one we test.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IFAC-PapersOnLine

ISBN

978-1-7138-7234-4

ISSN

2405-8963

e-ISSN

2405-8963

Počet stran výsledku

6

Strana od-do

325-330

Název nakladatele

IFAC

Místo vydání

Laxenburg

Místo konání akce

Lake Tahoe

Datum konání akce

2. 10. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001156193400055