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Buffer-Aided Model Predictive Controller to Mitigate Model Mismatches and Localization Errors
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- Patel, Raj-Haresh, 1991 (author)
- EURECOM
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- Wymeersch, Henk, 1976 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Härri, Jérôme (author)
- EURECOM
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- (creator_code:org_t)
- 2018
- 2018
- English.
- In: IEEE Transactions on Intelligent Vehicles. - 2379-8858. ; 3:4, s. 501-510
- Journal article (peer-reviewed)
Abstract
Subject headings
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- Any vehicle needs to be aware of its localization, destination, and neighboring vehicles' state information for collision free navigation. A centralized controller computes controls for cooperative adaptive cruise control (CACC) vehicles based on the assumed behavior of manually driven vehicles (MDVs) in a mixed vehicle scenario. The assumed behavior of the MDVs may be different from the actual behavior, which gives rise to a model mismatch. The use of erroneous localization information can generate erroneous controls. The presence of a model mismatch and the use of erroneous controls could potentially result into collisions. A controller robust to issues such as localization errors and model mismatches is thus required. This paper proposes a robust model predictive controller, which accounts for localization errors and mitigates model mismatches. Future control values computed by the centralized controller are shared with CACC vehicles and are stored in a buffer. Due to large localization errors or model mismatches when control computations are infeasible, control values from the buffer are used. Simulation results show that the proposed robust controller with buffer can avoid almost the same number of collisions in a scenario impacted by localization errors as that in a scenario with no localization errors despite model mismatch.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Robustness
- Centralized control
- Time factors
- centralized control
- Computational modeling
- Robust model predictive control
- localization errors
- Uncertainty
- model mismatch
- Predictive models
Publication and Content Type
- art (subject category)
- ref (subject category)
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