TY - GEN
T1 - Dual MPC for Adaptive Cruise Control with Unknown Road Profile
AU - Li, Zhaolun
AU - Jiang, Jingjing
AU - Chen, Wen Hua
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Inspired by the recent work on dual control for exploration and exploitation (DCEE), this paper presents a solution to adaptive cruise control problems via a dual control approach. Different from other adaptive controllers, the proposed dual model predictive control not only uses the current and future inputs to keep a constant headway distance between the leading vehicle and the ego vehicle but also tries to reduce the uncertainty of state estimation by actively learning the surrounding environment as well, which leads to faster convergence of the estimated parameters and better reference tracking performance. The simulation results demonstrate that the proposed dual control framework outperforms a conventional model predictive controller with disturbance observer for adaptive cruise control with unknown road grade.
AB - Inspired by the recent work on dual control for exploration and exploitation (DCEE), this paper presents a solution to adaptive cruise control problems via a dual control approach. Different from other adaptive controllers, the proposed dual model predictive control not only uses the current and future inputs to keep a constant headway distance between the leading vehicle and the ego vehicle but also tries to reduce the uncertainty of state estimation by actively learning the surrounding environment as well, which leads to faster convergence of the estimated parameters and better reference tracking performance. The simulation results demonstrate that the proposed dual control framework outperforms a conventional model predictive controller with disturbance observer for adaptive cruise control with unknown road grade.
KW - Adaptive Cruise Control
KW - Dual Model Predictive Control
KW - Unknown Road Profile
UR - http://www.scopus.com/inward/record.url?scp=85158089517&partnerID=8YFLogxK
U2 - 10.1109/ICM54990.2023.10102091
DO - 10.1109/ICM54990.2023.10102091
M3 - Conference article published in proceeding or book
AN - SCOPUS:85158089517
T3 - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
BT - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Mechatronics, ICM 2023
Y2 - 15 March 2023 through 17 March 2023
ER -