Conference
Risk-averse stochastic nonlinear model predictive control for real-time safety-critical systems
| العنوان: | Risk-averse stochastic nonlinear model predictive control for real-time safety-critical systems |
|---|---|
| المؤلفون: | Sajadi-Alamdari, Seyed Amin, Voos, Holger, Darouach, Mohamed |
| المساهمون: | Interdisciplinary Centre for Security, Reliability and Trust Luxembourg (SnT), Université du Luxembourg (Uni.lu), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | 20th IFAC World Congress, IFAC 2017 https://hal.science/hal-01565655 20th IFAC World Congress, IFAC 2017, Jul 2017, Toulouse, France |
| بيانات النشر: | HAL CCSD |
| سنة النشر: | 2017 |
| المجموعة: | Université de Lorraine: HAL |
| مصطلحات موضوعية: | [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| جغرافية الموضوع: | Toulouse, France |
| الوصف: | International audience ; Stochastic nonlinear model predictive control has been developed to systematically find an optimal decision with the aim of performance improvement in dynamical systems that involve uncertainties. However, most of the current methods are risk-neutral for safety-critical systems and depend on computationally expensive algorithms. This paper investigates on the risk-averse optimal stochastic nonlinear control subject to real-time safety-critical systems. In order to achieve a computationally tractable design and integrate knowledge about the uncertainties, bounded trajectories generated to quantify the uncertainties. The proposed controller considers these scenarios in a risk-sensitive manner. A certainty equivalent nonlinear model predictive control based on minimum principle is reformulated to optimise nominal cost and expected value of future recourse actions. The capability of proposed method in terms of states regulations, constraints fulfilment, and real-time implementation is demonstrated for a semi-autonomous ecological advanced driver assistance system specified for battery electric vehicles. This system plans for a safe and energy-efficient cruising velocity profile autonomously. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| Relation: | hal-01565655; https://hal.science/hal-01565655 |
| الاتاحة: | https://hal.science/hal-01565655 |
| رقم الانضمام: | edsbas.A14CF410 |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |