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Experimental Evaluation of Model Predictive Control and Control Barrier Functions for Autonomous Driving Obstacle Avoidance 自动驾驶避障模型预测控制与控制障碍函数的实验评价

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-11-17 DOI: 10.1016/j.ifacol.2025.11.079

Vishnu Renganathan , Pei Yu Chang , Qadeer Ahmed

The safety of Autonomous Vehicles (AVs) remains a key challenge for developers and stakeholders due to the dynamic environments in which they operate. From a control perspective, nonlinear model predictive control (MPC) is a powerful control strategy to operate in such dynamic environments. This paper evaluates the performance and compares the safety criteria for AV controllers designed using MPC and control barrier functions (CBFs) that ensure safety in obstacle avoidance through the principle of set invariance. With CBFs, there are two design approaches: CBFs formulated as a discrete-time constraint (MPC-CBF) or as a quadratic program (MPC-CBF-QP). In addition to CBFs, a more straightforward approach for obstacle avoidance is to use the safe-distance constraints in the MPC formulation (MPC-DC). The results of these three nonlinear MPC control strategies: (I) MPC-DC, (II) MPC-CBF-QP, and (III) MPC-CBF, implemented on an actual vehicle in autonomous mode, are discussed in detail. Their performance and safety conditions are compared in three common urban and highway driving scenarios: (i) avoiding static obstacles, (ii) sudden pedestrian interaction, and (iii) overtaking the lead vehicle (LV). We experimentally and theoretically show that the MPC-CBF-QP is computationally efficient and guarantees safety in all considered scenarios. MPC-DC often fails to meet safety requirements in critical scenarios, and MPC-CBF performance heavily depends on prediction, control, and CBF horizon.

由于自动驾驶汽车（av）所处的运行环境是动态的，因此其安全性仍然是开发商和利益相关者面临的一个关键挑战。从控制的角度来看，非线性模型预测控制（MPC）是在这种动态环境下运行的一种强有力的控制策略。本文对采用MPC和控制障碍函数（cbf）设计的自动驾驶控制器的性能进行了评价，并对其安全标准进行了比较，这两种控制障碍函数通过集合不变性原理确保了自动驾驶控制器的避障安全性。对于cbf，有两种设计方法：将cbf表述为离散时间约束（MPC-CBF）或二次规划（MPC-CBF- qp）。除了cbf之外，更直接的避障方法是在MPC公式中使用安全距离约束（MPC- dc）。详细讨论了三种非线性MPC控制策略(I) MPC- dc、（II） MPC- cbf - qp和（III） MPC- cbf在实际车辆自动驾驶模式下的应用结果。在三种常见的城市和高速公路驾驶场景下，对它们的性能和安全状况进行了比较：(i)避开静态障碍物，（ii）突然行人交互，（iii）超车。实验和理论表明，MPC-CBF-QP在所有考虑的情况下都具有计算效率和安全性。MPC-DC在关键场景下往往不能满足安全要求，而MPC-CBF的性能在很大程度上取决于预测、控制和CBF范围。

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引用次数: 0

Event-Triggered Control for Nonlinear Systems: Norm-Free State Data and Norm-Based Control Data Scheduling⁎ 非线性系统的事件触发控制：无规范状态数据和基于规范的控制数据调度

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-11-17 DOI: 10.1016/j.ifacol.2025.11.063

Deniz Kurtoglu , Tansel Yucelen , Eloy Garcia , Dzung Tran , David W. Casbeer

This paper presents a novel event-triggering framework to schedule state and control data transmissions, where our contribution is twofold. First, the norm-free event-triggering concept, which offers a distinct advantage over traditional norm-based methods by significantly reducing the number of data transmissions, is generalized from linear to nonlinear systems for the first time in the literature, specifically to schedule state data transmissions. Second, since the application of norm-free scheduling for both state and control data transmissions simultaneously is challenging as elaborated in the paper, a unique configuration is introduced in which norm-free state data scheduling is blended with norm-based control data scheduling. The proposed overall framework is first analyzed within a nonlinear setting and then the analysis for the linear setting is given as a special case when a nonlinear system is linearized to operate closely around an equilibrium point of interest. In addition to our system-theoretical analyses, an illustrative numerical example is also presented for the purpose of demonstrating the efficacy of the proposed event-triggering framework.

本文提出了一个新的事件触发框架来调度状态和控制数据传输，其中我们的贡献是双重的。首先，文献中首次将无规范事件触发概念从线性系统推广到非线性系统，特别是用于调度状态数据传输，该概念通过显著减少数据传输数量，比传统的基于规范的方法提供了明显的优势。其次，由于无规范调度同时用于状态和控制数据传输具有挑战性，因此引入了一种独特的配置，将无规范状态数据调度与基于规范的控制数据调度相结合。首先在非线性环境下分析了所提出的总体框架，然后给出了线性环境下的分析，作为非线性系统被线性化以在兴趣平衡点附近紧密运行的特殊情况。除了我们的系统理论分析之外，为了证明所提出的事件触发框架的有效性，还提出了一个说明性的数值示例。

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引用次数: 0

Continuous piecewise affine neural network Lyapunov functions 连续分段仿射神经网络Lyapunov函数

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-11-17 DOI: 10.1016/j.ifacol.2025.11.011

Kevin N. Webster

One of the prominent approaches to the problem of Lyapunov function construction in autonomous ordinary differential equations is the continuous piecewise affine (CPA) method. This method uses linear programming to compute a CPA Lyapunov function that is defined over a specified simplicial complex in a compact subset of the basin of attraction. In this paper, we propose the use of single hidden layer neural networks to learn CPA Lyapunov functions with gradient descent. We demonstrate the approach numerically and provide an algorithm to verify that the learned CPA neural network is a valid Lyapunov function.

连续分段仿射（CPA）方法是求解自治常微分方程中李雅普诺夫函数构造问题的重要方法之一。该方法使用线性规划来计算一个CPA Lyapunov函数，该函数定义在引力盆地的紧子集上的一个指定的简单复合体上。在本文中，我们提出使用单隐层神经网络来学习具有梯度下降的CPA Lyapunov函数。我们在数值上证明了该方法，并提供了一种算法来验证学习到的CPA神经网络是一个有效的Lyapunov函数。

引用次数: 0

Low-Chattering Modification of Super-Twisting Control for Insensitivity against Unmodeled Dynamics 对未建模动力学不敏感的超扭控制的低颤振改进

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-11-17 DOI: 10.1016/j.ifacol.2025.11.014

Benedikt Andritsch , Stefan Koch , Stefan L. Hölzl , Markus Reichhartinger , Martin Horn

In this paper a low-chattering modification of first-order dynamic output-feedback controllers based on a linear approximation close to the control goal is proposed. Stability is proven for the application to super-twisting control in absence of disturbances and unmodeled dynamics. Based on the method of harmonic balance a tuning method for the modification is determined that avoids chattering in presence of first-order unmodeled dynamics. Robust gain and frequency margins are derived for the proposed controller. Finally, the results are verified in simulations.

提出了一阶动态输出反馈控制器的低抖振改进方法，该方法基于接近控制目标的线性逼近。在无扰动和未建模动力学的情况下，证明了该方法在超扭转控制中的稳定性。在谐波平衡法的基础上，确定了一种修正的调谐方法，以避免一阶未建模动力学存在时的抖振。给出了该控制器的鲁棒增益和频率裕度。最后，通过仿真对结果进行了验证。

引用次数: 0

Robust Aperiodic Sampled-Data Washout Control for Uncertain Affine Systems 不确定仿射系统的鲁棒非周期采样数据冲洗控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.086

F. Giorgetti, F. Crocetti, M.L. Fravolini, F. Ferrante

In this paper, we address the problem of designing an aperiodic sampled-data controller stabilizing the zero-input equilibrium of an uncertain affine plant. The closed-loop system is modeled as a hybrid dynamical system incorporating a timer triggering the occurrence of the sampling events and two memory states storing the value of the controller state and controller output at each sampling time. Necessary and sufficient conditions on the controller parameters are given to establish the sought property. A constructive controller design algorithm based on sum-of-squares programming is given. A numerical example illustrates the effectiveness of the approach.

本文研究了一种稳定不确定仿射对象零输入平衡的非周期采样数据控制器设计问题。闭环系统被建模为一个混合动力系统，该系统包含触发采样事件发生的定时器和存储每个采样时间控制器状态和控制器输出值的两个记忆状态。给出了控制器参数的充分必要条件，以确定所寻求的性质。给出了一种基于平方和规划的构造控制器设计算法。数值算例说明了该方法的有效性。

引用次数: 0

Robust Full-Order Observer Design for Damper Force in Vehicle Suspensions⁎ 汽车悬架阻尼力的鲁棒全阶观测器设计

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.097

Daniel Quintana , Luis C. Felix-Herran , Juan C. Tudon-Martinez , Jorge de J. Lozoya-Santos

Vehicle suspensions are complex systems when they can modify the damping forces according to a control approach. This complexity is even more higher when all system variables are not available and the operating conditions are time-varying. A very common practice to estimate the force in vehicle suspension is using Quarter of Vehicle based model, which decouples the effects among the four vehicle corners. To address this problematic and to analyze the effects without decoupling them for each corner, this paper proposes a robust full-order observer design for the damper forces in a full-vehicle suspension system considering the nonlinear dynamics of four Magneto-Rheological (MR) dampers as semi-active actuators. The proposed robust observer design is based on the direct Lyapunov method through LMI-based conditions to guarantee robustness mainly to road disturbances, dynamic actuation signals, and measurement noise. The above robustness capabilities were evaluated using three different simulation scenarios in a MATLAB/Simulink environment. Simulation results showed that the observation error trends to zero in a fast and stable way for the three tests, demonstrating the robustness performance of the proposed observer in face to different road roughness, dynamic changes in the actuation signals of the MR dampers and measurement noise at different levels.

车辆悬架是一个复杂的系统，它可以根据控制方法来改变阻尼力。当所有系统变量都不可用且操作条件随时间变化时，这种复杂性甚至更高。一种非常常用的方法是使用基于四分之一车辆的模型来估计车辆悬架中的力，该模型解耦了四个车辆角之间的影响。为了解决这一问题，并在不解耦的情况下分析每个角的影响，本文提出了一种考虑四个磁流变阻尼器作为半主动作动器的非线性动力学的整车悬架系统阻尼器力的鲁棒全阶观测器设计。所提出的鲁棒观测器设计基于直接Lyapunov方法，通过基于lmi的条件来保证主要对道路干扰、动态驱动信号和测量噪声的鲁棒性。在MATLAB/Simulink环境中使用三种不同的仿真场景对上述鲁棒性能力进行了评估。仿真结果表明，三种试验的观测误差都能快速稳定地趋于零，证明了所提出的观测器在面对不同路面粗糙度、磁流变阻尼器驱动信号的动态变化以及不同程度的测量噪声时的鲁棒性。

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引用次数: 0

Robust H∞ Control Synthesis with Learning in Additive Form for Autonomous Vehicles 自动驾驶汽车鲁棒H∞控制的加性学习综合

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.070

Attila Lelkó , Balázs Németh , Péter Gáspár

This paper presents a method for improving the performance level of the robust H_∞ controllers. The improvement is achieved in an additive form, which contains a learning-based agent. The contribution of the presented method is that the design methods of the H_∞ controller and of the learning-based agent are formed in a joint optimization. This results in the iterative design of the controllers within a reinforcement learning algorithm. The developed design method is applied to an autonomous vehicle control problem for lap time minimization. The presented simulation-based analysis shows that the proposed method can provide improved performance level, compared to the conventional H_∞ control without extension or to H_∞ control with extension but without joint optimization.

提出了一种提高鲁棒H∞控制器性能水平的方法。改进是通过添加形式实现的，其中包含一个基于学习的代理。该方法的贡献在于将H∞控制器的设计方法与基于学习的智能体的设计方法联合优化形成。这导致了控制器在强化学习算法中的迭代设计。将所提出的设计方法应用于自动驾驶车辆的最小圈速控制问题。仿真分析表明，与传统的无扩展的H∞控制和无联合优化的有扩展的H∞控制相比，该方法可以提供更高的性能水平。

引用次数: 0

Robust Data-Driven Receding Horizon Control1 鲁棒数据驱动的后退地平线控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.074

Jian Zheng , Sahand Kiani , Mario Sznaier , Constantino Lagoa

This paper presents a data-driven receding horizon control framework for discrete-time linear systems that guarantees robust performance in the presence of bounded disturbances. Unlike the majority of existing data-driven predictive control methods, which rely on Willem’s fundamental lemma, the proposed method enforces set-membership constraints for data-driven control and utilizes execution data to iteratively refine a set of compatible systems online. Numerical results demonstrate that the proposed receding horizon framework achieves better contractivity for the unknown system compared with regular data-driven control approaches.

提出了一种数据驱动的离散线性系统的后退水平控制框架，保证了系统在有界扰动下的鲁棒性。现有的大多数数据驱动的预测控制方法都依赖于Willem的基本引理，与此不同的是，我们提出的方法为数据驱动的控制施加了集合成员约束，并利用执行数据来迭代地优化一组兼容的在线系统。数值结果表明，与常规的数据驱动控制方法相比，所提出的后退地平线框架对未知系统具有更好的收缩性。

引用次数: 0

On State Control of Uncertain Linear Ostensible Metzler Systems 不确定线性表面Metzler系统的状态控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.075

D. Krokavec, A. Filasová

This article deals with state feedback control of uncertain ostensible Metzler systems based on their hidden positive models. To address this problem, an approach is used to formulate stability conditions and parametric boundaries by introducing a decomposition of the ostensible Metzler matrix such that the resulting hidden part in the closed loop is positive and asymptotically stable. The design conditions are provided in terms of linear matrix inequalities with diagonal positive definite matrix variables to comply with the diagonal stabilizability rule. Finally a numerical example is presented to confirm the validity of the analysis result.

基于表面不确定梅茨勒系统的隐正模型，研究了不确定梅茨勒系统的状态反馈控制问题。为了解决这个问题，采用了一种方法，通过引入表面Metzler矩阵的分解来表述稳定性条件和参数边界，使得闭环中的隐藏部分是正的且渐近稳定的。以具有对角正定矩阵变量的线性矩阵不等式形式给出了满足对角稳定规则的设计条件。最后通过数值算例验证了分析结果的有效性。

引用次数: 0

Worst-Case Finite-Frequency H2-Norm Analysis of Uncertain Linear Systems 不确定线性系统的最坏情况有限频率h2范数分析

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.ifacol.2025.10.078

Tommaso Casati , Jean-Marc Biannic , Clément Roos , Hélène Evain

The H₂ norm is a fundamental design metric in many control applications and it is therefore important to evaluate how it is affected by uncertainties in the model. In the space domain, the H₂ norm is particularly significant when the Pointing Error Source (PES) of a satellite can be approximated by a white noise, which is often the case for microvibrations and acoustic disturbances. The present paper discusses a new method to identify a set of real parametric uncertainties which maximizes (resp. minimizes) the finite-frequency H₂ norm of an uncertain Multiple-Input Multiple-Output (MIMO) linear system. To do so, the analytical expression of the finite-frequency H₂ norm is first approximated as a sum of contributions on a discrete frequency grid. A constrained nonlinear optimization is then performed to maximize (resp. minimize) the so-obtained function. The proposed worst-case finite-frequency H₂-norm analysis paves the way to a wide range of possible applications, specially when integrated into the Verification and Validation (V&V) process of space missions requiring high pointing performances. The theoretical results derived in the paper are implemented and successfully tested on models of increasing complexity.

H2规范是许多控制应用中的基本设计度量，因此评估它如何受到模型不确定性的影响是很重要的。在空间域中，当卫星的指向误差源（PES）可以被白噪声近似时，H2范数尤为重要，这通常是微振动和声干扰的情况。本文讨论了一种辨识实数参数不确定性集的新方法。最小化)不确定多输入多输出（MIMO）线性系统的有限频率H2范数。为此，有限频率H2范数的解析表达式首先近似为离散频率网格上的贡献之和。然后执行约束非线性优化以最大化响应。最小化)得到的函数。提出的最坏情况有限频率h2范数分析为广泛的可能应用铺平了道路，特别是当集成到需要高指向性能的空间任务的验证和验证（V&；V）过程中时。本文的理论结果在越来越复杂的模型上得到了实现和成功的验证。

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