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

Autor(es)

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

• Tipo de documento: Artigo Científico
• Fonte: IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS; v. 53, n. 8, p. 13-pg., 2023-04-11.

Resumo

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)

• Processo FAPESP: 21/08103-0 - Controle de sistemas veiculares heterogêneos autônomos e cooperativos
• Beneficiário: Lucas Barbosa Marcos
• Modalidade de apoio: Bolsas no Brasil - Programa Capacitação - Treinamento Técnico
• Processo FAPESP: 17/16346-4 - Controle tolerante a falhas de rede de comunicação para o movimento coordenado de robôs heterogêneos
• Beneficiário: Kaio Douglas Teófilo Rocha
• Modalidade de apoio: Bolsas no Brasil - Doutorado Direto
• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático