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Risk-averse Stochastic Nonlinear Model Predictive Control for Real-time Safety-critical Systems
Sajadi Alamdari, Seyed Amin; Voos, Holger; Darouach, Mohamed
2017In The 20th World Congress of the International Federation of Automatic Control, IFAC 2017 World Congress, Toulouse, France, 9-14 July 2017
Peer reviewed
 

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Keywords :
Stochastic Optimisation; Electric Vehicle; Predictive Control
Abstract :
[en] 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.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Sajadi Alamdari, Seyed Amin ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Darouach, Mohamed;  Universit ́e de Lorraine, IUT de Longwy, 186 rue de Lorraine, F-54400 Cosnes et Romain, France. > Centre de Recherche en Automatique de Nancy (CRAN) UMR-CNRS 7039
External co-authors :
yes
Language :
English
Title :
Risk-averse Stochastic Nonlinear Model Predictive Control for Real-time Safety-critical Systems
Publication date :
11 July 2017
Event name :
The 20th World Congress of the International Federation of Automatic Control
Event date :
09-07-2017 to 14-07-2017
Audience :
International
Main work title :
The 20th World Congress of the International Federation of Automatic Control, IFAC 2017 World Congress, Toulouse, France, 9-14 July 2017
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
FnR Project :
FNR7041503 - Stochastic Model Predictive Control For Eco-driving Assistance Systems In Electric Vehicles, 2013 (15/06/2014-14/06/2018) - Seyed Amin Sajadi Alamdari
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 24 July 2017

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