Fast warm-start of F-MPC strategy for automotive cruise control with mode switching. (November 2022)

• Record Type: Journal Article
• Authors: Liu, Jiaqi; Dong, Shiying; Liu, Qifang; Gao, Bingzhao; Kawabe, Taketoshi; Chen, Hong
• Is Part Of: Control engineering practice. Volume 128(2022)
• Publication Date: 2022-11
• Subjects: Nonlinear model predictive control -- Mode switching -- Warm-start -- Fast iterative method -- Automotive cruise control; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2022.105344
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: A fast iterative algorithm of nonlinear model predictive control is proposed to solve the warm-start problem of the fast model predictive control (F-MPC) method for real-time application with mode switching. Because an incorrect initial guess of F-MPC creates problems such as excessive iterations or even solution failures, the proposed iterative algorithm aims to provide the initial value of F-MPC quickly and efficiently. The idea is to decompose the original nonlinear system into a main linear part and a nonlinear part, which is regarded as measurable disturbance. Then the explicit optimal solution of the "disturbed" system is derived, the obtained series of control inputs are applied to the system, the system state and consequently the "disturbance" are updated, and finally the process is repeated until convergence. The calculated iterative result can be used as the initial solution for F-MPC especially for maneuver mode switching. Automotive cruise control is used as an example for validation, and it is shown that the control strategy has superior adaptability for mode switching, guaranteeing the given safety constraints as well as significantly reducing the computational load. Graphical abstract: Highlights: The fast iterative algorithm for F-MPC with warm-start provides significant benefits when solving nonlinear system's real -time optimal control problems. The new warm-start method achieves high computational efficiency. Automotive cruise control with mode switching is applicable to this control strategy and obtained excellent results. The fast iterative warm-start F-MPC improves the safety performance of the system and reducing the workload. The new algorithm's ability to provide more security for intelligent transportation control systems.