Risk in Stochastic and Robust Model Predictive Path-Following Control for Vehicular Motion Planning

In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms. Additionally, providing evidence that risk is minimized during the AV operation is essential to vehicle safety...

A novel model based approach of an integrated ventilation and heating model for monitoring and control

Control of HVAC systems may reduce congestion of the electricity grid on district level by shifting energy demand of buildings and increase the self-consumption of local photovoltaic energy. To achieve an optimal control of ventilation, occupant behaviour should be taken into account. To describe occupant behaviour, usually black box models are...

Long Horizon Risk-Averse Motion Planning: A Model-Predictive Approach

Developing safe automated vehicles that can be proactive, safe, and comfortable in mixed traffic requires improved planning methods that are risk-averse and that account for predictions of the motion of other road users. To consider these criteria, in this article, we propose a nonlinear model-predictive trajectory generator scheme, which...

Delay-aware Multi-layer Multi-rate Model Predictive Control for Vehicle Platooning under Message-rate Congestion Control

Vehicle platooning is an enabler technology for increasing road capacity, improving safety and reducing fuel consumption. Platoon control is a two-layered system where each layer runs under a different communication standard and rate - (i) the upper-layer operates under a specific V2V communication standard such as IEEE 802.11p and (ii) the...

Multi-layer multi-rate model predictive control for vehicle platooning under IEEE 802.11p

Vehicle platooning has gained attention for its potential to increase road capacity and safety, and higher fuel efficiency. Platoon controls are implemented over Vehicle-to-Vehicle (V2V) wireless communication, in-vehicle networks and Electronic Control Units (ECUs). V2V communication has a low message rate imposed by the V2V standard compared...

A Single-Level Rule-Based Model Predictive Control Approach for Energy Management of Grid-Connected Microgrids

A single-level rule-based model predictive control (RBMPC) scheme is presented for optimizing the energy management of a grid-connected microgrid composed of local production units, renewable energy sources, local loads, and several types of energy storage systems (ESSs). The single-level controller uses two different models that yield different...

Collision-Free Trajectory Planning With Deadlock Prevention: An Adaptive Virtual Target Approach

Most human-centred robotic applications require robots to follow a certain pre-defined path. This makes the robot’s autonomous movements acceptable and predictable for humans. Planning a trajectory for the robot thus involves guiding it along this desired path. The classical approach of segmenting a path into multiple waypoints and tracking them...

Layer-to-Layer predictive control of inkjet 3-D printing

Scenario-based model predictive control approach for heating systems in an office building

In the context of building heating systems control in office buildings, the current state-of-the-art applies either a deterministic Model Predictive Control (MPC) controller together with a nonlinear model, or a linearized model with a stochastic MPC controller. Deterministic MPC considers only one realization of the external disturbances, which...

Co-simulation framework for control, communication and traffic for vehicle platoons

Vehicle platooning has gained attention for its potential to achieve an increased road capacity and safety, and a higher fuel efficiency. Member vehicles of a platoon wirelessly communicate complying with industrial standards such as IEEE 802.11p. By exchanging information with other members via wireless communication, a platoon member computes...

Robust model predictive cooperative adaptive cruise control subject to V2V impairments

To improve traffic throughput, Cooperative Adaptive Cruise Control (CACC) has been proposed as a solution. The usage of Vehicle-to-Vehicle (V2V) communication enables short following distances, thereby increasing road capacity and fuel reduction (especially for trucks). Control designs for CACC use the wirelessly communicated intended...

Model predictive control of a waste heat recovery system for automotive diesel engines

In this paper, a switching Model Predictive Control strategy is designed for an automotive Waste Heat Recovery system with two parallel evaporators. The objective is to maximize Waste Heat Recovery system output power, while satisfying safe operation under highly dynamic disturbances from the engine. Safe system operation is associated with...

Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach

The combination of different characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming. This paper presents a systematic approach for the design of a parameterized ACC, based on explicit model predictive control. A unique feature of the synthesized ACC is its parameterization...

A model predictive control approach to design a parameterized adaptive cruise control

The combination of different desirable characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming and tedious. This chapter presents a systematic approach for the design and tuning of an ACC, based on model predictive control (MPC). A unique feature of the synthesized ACC is...

Fast affine projections and the regularized modified filtered-error algorithm in multichannel active noise control

In this paper, real-time results are given for broadband multichannel active noise control using the regularized modified filtered-error algorithm. As compared to the standard filtered-error algorithm, the improved convergence rate and stability of the algorithm are obtained by using an inner-outer factorization of the transfer path between the...

Explicit MPC design and performance-based tuning of an Adaptive Cruise Control Stop-&-Go

This paper presents the synthesis, the implementation and the performance-based tuning of an Adaptive Cruise Control (ACC) Stop-&-Go (S&G) design. A Model Predictive Control (MPC) framework is adopted to design the controller. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle...

Optimization of the reconstruction and anti-aliasing filter in a wiener filter system

This paper discusses the influence of the reconstruction and anti-aliasing filters on the performance of a digital implementation of a Wiener filter for active noise control. The overall impact will be studied in combination with a multi-rate system approach. A reconstruction and anti-aliasing filter will be selected and its parameters will be...

Nonlinear model predictive control with moving horizon state and disturbance estimation - With application to MSW combustion

This paper presents a nonlinear model predictive control (NMPC) strategy that can be used to tackle model predictive control problems that involve relatively simple nonlinear dynamic models, as for example obtained with first-principles modeling. The main feature of the proposed NMPC strategy is the usage of a moving horizon estimator (MHE) for...