典型文献
Stochastic model predictive braking control for heavy-duty commercial vehicles during uncertain brake pressure and road profile conditions
文献摘要：
When heavy-duty commercial vehicles(HDCVs)must engage in emergency braking,uncertain conditions such as the brake pressure and road profile variations will inevitably affect braking control.To minimize these uncertainties,we propose a combined longitudinal and lateral controller method based on stochastic model predictive control(SMPC)that is achieved via Chebyshev-Cantelli inequality.In our method,SMPC calculates braking control inputs based on a finite time prediction that is achieved by solving stochastic programming elements,including chance constraints.To accomplish this,SMPC explicitly describes the probabilistic uncertainties to be used when designing a robust control strategy.The main contribution of this paper is the proposal of a braking control formulation that is robust against probabilistic friction circle uncertainty effects.More specifically,the use of Chebyshev-Cantelli inequality suppresses road profile influences,which have characteristics that are different from the Gaussian distribution,thereby improving both braking robustness and control performance against statistical disturbances.Additionally,since the Kalman filtering(KF)algorithm is used to obtain the expectation and covariance used for calculating deterministic transformed chance constraints,the SMPC is reformulated as a KF embedded deterministic MPC.Herein,the effectiveness of our proposed method is verified via a MATLAB/Simulink and TruckSim co-simulation.
文献关键词：
中图分类号：
作者姓名：
Ryota Nakahara;Kazuma Sekiguchi;Kenichiro Nonaka;Masahiro Takasugi;Hiroki Hasebe;Kenichi Matsubara
作者机构：
Graduate School of Integrative Science and Engineering,Tokyo City University,Tamazutsumi,Setagaya-ku,Tokyo 1588557,Japan;Nabtesco Automotive Co.,Ltd.,Hirakawacho,Chiyoda-ku,Tokyo 1020093,Japan
文献出处：
引用格式：
[1]Ryota Nakahara;Kazuma Sekiguchi;Kenichiro Nonaka;Masahiro Takasugi;Hiroki Hasebe;Kenichi Matsubara-.Stochastic model predictive braking control for heavy-duty commercial vehicles during uncertain brake pressure and road profile conditions)[J].控制理论与技术（英文版）,2022(02):248-262
A类：
HDCVs
B类：
Stochastic,model,predictive,braking,heavy,duty,commercial,vehicles,during,brake,pressure,road,profile,conditions,When,must,engage,emergency,such,variations,will,inevitably,affect,To,minimize,these,uncertainties,we,combined,longitudinal,lateral,controller,method,stochastic,SMPC,that,achieved,via,Chebyshev,Cantelli,inequality,In,our,calculates,inputs,finite,prediction,solving,programming,elements,including,chance,constraints,accomplish,this,explicitly,describes,probabilistic,used,when,designing,strategy,main,contribution,paper,proposal,formulation,against,friction,circle,uncertainty,effects,More,specifically,suppresses,influences,which,have,characteristics,are,different,from,Gaussian,distribution,thereby,improving,both,robustness,performance,statistical,disturbances,Additionally,since,Kalman,filtering,KF,algorithm,obtain,expectation,covariance,calculating,deterministic,transformed,reformulated,embedded,Herein,effectiveness,proposed,verified,Simulink,TruckSim,simulation
AB值：
0.570762
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
