Robust Hybrid MPC Applied to the Design of an Adaptive Cruise
Controller for a Road Vehicle
Reference
D. Corona,
I. Necoara,
B. De Schutter, and
T. van den Boom,
"Robust Hybrid MPC Applied to the Design of an Adaptive Cruise
Controller for a Road Vehicle," Proceedings of the
45th IEEE Conference on Decision and Control, San Diego,
California, pp. 1721-1726, Dec. 2006.
Abstract
Hybrid Model Predictive Control (MPC) for piecewise affine (PWA)
systems is used to solve a control problem for the tracking of a road
vehicle. The study originates from the design of an adaptive cruise
controller (ACC), that aims to track the velocity transmitted by a
leading vehicle. In addition we consider disturbances due to model
mismatch and to state measurements. The design specifications and
corresponding constraints related to safety and comfort lead to
nontrivial control problem. We present the results of a method that
merges the use of hybrid MPC for tracking and regulation to a final
equilibrium state, for which we compute the terminal cost and
constraint set both in the deterministic and the perturbed case.
Downloads
- Corresponding technical report:
pdf
file
(395 KB)
Bibtex entry
@inproceedings{CorNec:06-028,
author={D. Corona and I. Necoara and B. {D}e Schutter and T. van den Boom},
title={Robust Hybrid {MPC} Applied to the Design of an Adaptive Cruise
Controller for a Road Vehicle},
booktitle={Proceedings of the 45th IEEE Conference on Decision and Control},
address={San Diego, California},
pages={1721--1726},
month=dec,
year={2006}
}
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