Explicit Model Predictive Control In Vehicle Control

Vehicle system moves according to the requirements of the route (track and trajectory) in order to achieve a particular purpose or to accomplish a task. Common controller is difficult to achieve perfect results, so high performance control method is required.This Thesis applies explicit model predictive control to the vehicle systems, including auto and aerospace. This is a challenge to the traditional control method and is a new exploration in this area. The main results are as follows.1. Based on the model predictive control, the algorithm introduces the multi-parametric quadratic programming theory. It can complete complex optimization process offline and get the regions of explicit controller as well as their corresponding optimal control law. The tables, established by offline calculation, can be used to look up online. The algorithm makes the online computation faster and meets the vehicle’s requirements:large scales and the short sampling time interval.2. The explicit model predictive control method is applied to the continuous stirred tank reactor and the network control system with data dropouts. The feasibility and effectiveness in dealing with problems of adjusting and tracking is verified by simulation.3. On the basis of understanding of the basic working principle and structure of four wheel steering system, the mathematical model is established, which model is transformed into PWA model by use of piecewise affine function. This transformed PWA model can be easily deal with the algorithm of explicit model predictive control. The feasibility of the application of the explicit model predictive control algorithms on this system is proved by using MATLAB simulation.4. Based on the hardware and software of3-DOF helicopter system, the mathematical model though height axis, pitch axis and the rotation axis are established. Apply explicitly model predictive control to this system and complete simulation with MATLAB and SIMULINK. The simulation proves that this algorithm can be well to keep the helicopter’s flying position with the disturbance or not.