| Texto completo | |
| Autor(es): |
Bueno, Jose Nuno A. D.
;
Marcos, Lucas B. B.
;
Rocha, Kaio D. T.
;
Terra, Marco H. H.
Número total de Autores: 4
|
| 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 |