Model-based and Koopman-based predictive control: a braking control systems comparison
Year: 2023
Type: article
Abstract: Anti-locking Braking systems are crucial safety systems in modern vehicles. In this work, we investigate the possibility to use Model Predictive Control (MPC) for braking systems by considering three different models identified from data. Specifically, we consider two models, whose structure and the identification procedure are driven by physics principles, and a third black-box modeling approach that relies on Koopman theory. By comparing the effectiveness of the three resulting MPC schemes in a high-fidelity simulation environment, we show that Koopman-based MPC can generally be a viable solution for the design of braking controllers, which might not be the case of nonlinear MPC or approximated scheme like the second one we test.
Source: IFAC-PapersOnLine
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4389987590