Regulation of Uncertain Markov Jump Linear Systems With Application on Automotive Powertrain Control
José Nuno A. D. Bueno, Lucas B. Marcos, Kaio D. T. Rocha, Marco H. Terra
Abstract
Modeling and control of dynamic systems that experience abrupt changes are challenging and fundamental tasks in applications of different areas of engineering. Among these, control synthesis for autonomous heavy-duty vehicles has the potential to highly benefit transportation systems. That said, we propose a robust recursive regulator for discrete-time Markov jump linear systems with polytopic uncertain data. We assume the uncertainties affect the state-space parameters as well as the transition probability matrix. We formulate an optimization problem using the penalty function method and design a recursive solution, whereby we attain the robust state feedback gains. We impose no restrictions on how fast the uncertainties can change between two consecutive iterations. Conditions for convergence and mean-square stability are well defined in terms of Riccati recursive equations. We also set up a procedure for powertrain polytopic model identification based on CAN bus data of an autonomous heavy-duty ground vehicle. We provide two numerical examples to verify the effectiveness of the robust recursive regulator. Moreover, in a third example, we validate the obtained powertrain model on a trajectory tracking problem and compute acceleration and braking inputs using the robust regulator.