Data-driven design of switching reference governors for brake-by-wire applications

Andrea Sassella, Valentina Breschi, Simone Formentin
Proceedings of the 3rd Conference on Learning for Dynamics and Control, PMLR 144:99-110, 2021.

Abstract

Nowadays, data are ubiquitous in control design and data-driven approaches are in constant evolution. By following such a trend, in this paper we propose an approach for the direct data-driven design of switching reference governors for nonlinear plants and we apply it within a brake-by-wire application. The braking system is assumed to be pre-stabilized via a simple unknown controller attaining unsatisfactory performance in terms of output tracking and actuator effort. Hence, the reference governor is used to improve the overall closed-loop behavior, resulting into safer maneuvering. Preliminary results on a simulation setup show the effectiveness of the proposed strategy, thus motivating further investigation on the topic.

Cite this Paper

BibTeX
@InProceedings{pmlr-v144-sassella21a, title = {Data-driven design of switching reference governors for brake-by-wire applications}, author = {Sassella, Andrea and Breschi, Valentina and Formentin, Simone}, booktitle = {Proceedings of the 3rd Conference on Learning for Dynamics and Control}, pages = {99--110}, year = {2021}, editor = {Jadbabaie, Ali and Lygeros, John and Pappas, George J. and A. Parrilo, Pablo and Recht, Benjamin and Tomlin, Claire J. and Zeilinger, Melanie N.}, volume = {144}, series = {Proceedings of Machine Learning Research}, month = {07 -- 08 June}, publisher = {PMLR}, pdf = {http://proceedings.mlr.press/v144/sassella21a/sassella21a.pdf}, url = {https://proceedings.mlr.press/v144/sassella21a.html}, abstract = {Nowadays, data are ubiquitous in control design and data-driven approaches are in constant evolution. By following such a trend, in this paper we propose an approach for the direct data-driven design of switching reference governors for nonlinear plants and we apply it within a brake-by-wire application. The braking system is assumed to be pre-stabilized via a simple unknown controller attaining unsatisfactory performance in terms of output tracking and actuator effort. Hence, the reference governor is used to improve the overall closed-loop behavior, resulting into safer maneuvering. Preliminary results on a simulation setup show the effectiveness of the proposed strategy, thus motivating further investigation on the topic.} }
Endnote
%0 Conference Paper %T Data-driven design of switching reference governors for brake-by-wire applications %A Andrea Sassella %A Valentina Breschi %A Simone Formentin %B Proceedings of the 3rd Conference on Learning for Dynamics and Control %C Proceedings of Machine Learning Research %D 2021 %E Ali Jadbabaie %E John Lygeros %E George J. Pappas %E Pablo A. Parrilo %E Benjamin Recht %E Claire J. Tomlin %E Melanie N. Zeilinger %F pmlr-v144-sassella21a %I PMLR %P 99--110 %U https://proceedings.mlr.press/v144/sassella21a.html %V 144 %X Nowadays, data are ubiquitous in control design and data-driven approaches are in constant evolution. By following such a trend, in this paper we propose an approach for the direct data-driven design of switching reference governors for nonlinear plants and we apply it within a brake-by-wire application. The braking system is assumed to be pre-stabilized via a simple unknown controller attaining unsatisfactory performance in terms of output tracking and actuator effort. Hence, the reference governor is used to improve the overall closed-loop behavior, resulting into safer maneuvering. Preliminary results on a simulation setup show the effectiveness of the proposed strategy, thus motivating further investigation on the topic.
APA
Sassella, A., Breschi, V. & Formentin, S.. (2021). Data-driven design of switching reference governors for brake-by-wire applications. Proceedings of the 3rd Conference on Learning for Dynamics and Control, in Proceedings of Machine Learning Research 144:99-110 Available from https://proceedings.mlr.press/v144/sassella21a.html.

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