Adaptive Tube-Based Nonlinear MPC for Economic Autonomous Cruise Control of Plug-In Hybrid Electric Vehicles
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Bibliographic record
Abstract
This paper proposes an adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of autonomous cruise control systems. The proposed method utilizes two separate models to define the constrained receding horizon optimal control problem. A fixed nominal model is used to handle the problem constraints based on a robust tube-based approach. A separate adaptive model is used to define the objective function, which utilizes least square online parameter estimators for adaption. By having two separate models, this method takes into account uncertainties, modeling errors, and delayed data in the design of the controller and guaranties robust constraint handling, while adapting to them to improve control performance. Furthermore, to be able to implement the designed AT-NMPC in real-time, a Newton/GMRES fast solver is employed to solve the optimization problem. Simulations performed on a high-fidelity model of the baseline vehicle, the Toyota plug-in Prius, which is a plug-in hybrid electric vehicle, show that the proposed controller is able to handle the defined constraints in the presence of uncertainty, while improving the energy cost of the trip. Moreover, the result of the hardware-in-loop experiment demonstrates the performance of the proposed controller in a real-time application.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it