Regulation of Uncertain Markov Jump Linear Systems With Application on Automotive Powertrain Control

Author(s)

Bueno, Jose Nuno A. D. ; Marcos, Lucas B. B. ; Rocha, Kaio D. T. ; Terra, Marco H. H.

• Document type: Journal article
• Source: IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS; v. 53, n. 8, p. 13-pg., 2023-04-11.

Abstract

Modeling and control of dynamic systems that experience abrupt changes are challenging and fundamental tasks in applications of different areas of engineering. Among these, control synthesis for autonomous heavy-duty vehicles has the potential to highly benefit transportation systems. That said, we propose a robust recursive regulator for discrete-time Markov jump linear systems with polytopic uncertain data. We assume the uncertainties affect the state-space parameters as well as the transition probability matrix. We formulate an optimization problem using the penalty function method and design a recursive solution, whereby we attain the robust state feedback gains. We impose no restrictions on how fast the uncertainties can change between two consecutive iterations. Conditions for convergence and mean-square stability are well defined in terms of Riccati recursive equations. We also set up a procedure for powertrain polytopic model identification based on CAN bus data of an autonomous heavy-duty ground vehicle. We provide two numerical examples to verify the effectiveness of the robust recursive regulator. Moreover, in a third example, we validate the obtained powertrain model on a trajectory tracking problem and compute acceleration and braking inputs using the robust regulator. (AU)

• FAPESP's process: 21/08103-0 - Cooperative autonomous control of heterogeneous vehicle systems
• Grantee: Lucas Barbosa Marcos
• Support Opportunities: Scholarships in Brazil - Technical Training Program - Technical Training
• FAPESP's process: 17/16346-4 - Communication network fault tolerant control for coordinated movement of heterogeneous robots
• Grantee: Kaio Douglas Teófilo Rocha
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)
• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants