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Low speed hybrid generalized predictive control of a gasoline-propelled car

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dc.contributor.authorMadrid, Ángel P. de
dc.contributor.authorMilanés, V.
dc.contributor.authorRomero Hortelano, Miguel
dc.contributor.authorMañoso Hierro, María Carolina
dc.date.accessioned2024-05-20T11:59:22Z
dc.date.available2024-05-20T11:59:22Z
dc.date.issued2015-07
dc.description.abstractLow-speed driving in traffic jams causes significant pollution and wasted time for commuters. Additionally, from the passengers׳ standpoint, this is an uncomfortable, stressful and tedious scene that is suitable to be automated. The highly nonlinear dynamics of car engines at low-speed turn its automation in a complex problem that still remains as unsolved. Considering the hybrid nature of the vehicle longitudinal control at low-speed, constantly switching between throttle and brake pedal actions, hybrid control is a good candidate to solve this problem. This work presents the analytical formulation of a hybrid predictive controller for automated low-speed driving. It takes advantage of valuable characteristics supplied by predictive control strategies both for compensating un-modeled dynamics and for keeping passengers security and comfort analytically by means of the treatment of constraints. The proposed controller was implemented in a gas-propelled vehicle to experimentally validate the adopted solution. To this end, different scenarios were analyzed varying road layouts and vehicle speeds within a private test track. The production vehicle is a commercial Citroën C3 Pluriel which has been modified to automatically act over its throttle and brake pedals.en
dc.description.versionversión final
dc.identifier.doi10.1016/j.isatra.2015.01.004
dc.identifier.issn0019-0578
dc.identifier.urihttps://hdl.handle.net/20.500.14468/12792
dc.journal.titleISA Transactions
dc.journal.volume57
dc.language.isoen
dc.publisherElsevier
dc.relation.centerE.T.S. de Ingeniería Informática
dc.relation.departmentSistemas de Comunicación y Control
dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0
dc.subject.keywordsHybrid control
dc.subject.keywordsPredictive control
dc.subject.keywordsAutonomous vehicle
dc.subject.keywordsLongitudinal control
dc.titleLow speed hybrid generalized predictive control of a gasoline-propelled cares
dc.typeartículoes
dc.typejournal articleen
dspace.entity.typePublication
relation.isAuthorOfPublication680ca446-ab0c-4f58-89bb-d2b3c88b12fe
relation.isAuthorOfPublication1fd3709e-a22f-4d56-ba3d-682448dee8c4
relation.isAuthorOfPublication.latestForDiscovery680ca446-ab0c-4f58-89bb-d2b3c88b12fe
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