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Recent developments in control systems have made it possible to manipulate wheel torques independently in order to improve vehicle handling characteristics of electric vehicles. These vehicles usually employ in-wheel motors which can be independently controlled. This paper presents a 4-wheel-drive electric vehicle for research purposes. A dynamic model based on the connection of the mechanical devices...
This paper proposes new sensor fault detection algorithms for linear discrete-time systems with bounded perturbations and bounded measurement noise. This fault detection technique is based on a zonotopic set-membership estimation method. The first proposed fault detection algorithm allows to detect the presence of a fault. A second algorithm leading to guaranteed state estimation in the presence of...
This paper proposes a distributed algorithm (Feasible Cooperation based Model Predictive Control, FC-MPC) for the control of freeway traffic systems. FC-MPC will be tested and compared with global, local and communicative MPC techniques in a traffic network of 18 segments with ITS (Intelligent Transport Systems) control signals: ramp meters and variable speed limits. It will be shown that local techniques...
This work focuses on the application of distributed model predictive control to find the optimal decision variables to maximize profit in supply chains. A reduced version of the MIT beer game made of only two elements is taken as an application example. Three controllers, i.e., a standard centralized model predictive controller, an distributed non-cooperative model predictive controller and a recently...
The practical implementation of min-max MPC (MMMPC) controllers is limited by the computational burden required to compute the control law. This problem can be circumvented by using approximate solutions or upper bounds of the worst possible case of the performance index. In a previous work, the authors presented a computationally efficient MMMPC control strategy in which a close approximation of...
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