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Fault-observer-based iterative learning model predictive controller for trajectory tracking of hypersonic vehicles
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作者 CUI Peng GAO Changsheng AN Ruoming 《Journal of Systems Engineering and Electronics》 2025年第3期803-813,共11页
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype... This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller. 展开更多
关键词 hypersonic vehicle actuator fault tracking control iterative learning control(ILC) model predictive control(MPC) fault observer
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Realizing high-speed target tracking by using multi-rate feedforward predictive control for the acquisition, tracking, and pointing system
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作者 Hang Li Gaoliang Peng +4 位作者 Xiaobiao Shan Mingyuan Zhao Wei Zhang Jinghan Wang Feng Cheng 《Defence Technology(防务技术)》 2025年第7期137-151,共15页
The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilit... The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilities of ATP systems.However,in practical applications,ATP systems face various design constraints and functional limitations,making it infeasible to indefinitely improve hardware performance to meet tracking requirements.As a result,tracking algorithms are required to execute increasingly complex tasks.This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems,which lead to tracking jitter,poor tracking performance,low precision,and target loss.At the same time,the pro-posed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays.The method suggested is also characterized by its low order,fast response,and robustness to model parameter variations.In this study,an actual ATP system is built for target tracking test,and the proposed algorithm is fully validated in terms of simulation and actual system application verification.Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates.For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s^(2),the system improved tracking accuracy by 70.0%-89.9%at a sampling frequency of 50 Hz and a delay of 30 m s.Moreover,the compensation algorithm demonstrated consistent performance across actuators with varying characteristics,further confirming its robustness to model insensitivity.In summary,the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable targets,reducing the probability of target loss from high speed.This approach offers a practical solution for future multi-target tracking across diverse operational scenarios. 展开更多
关键词 Multi-rate systems predictive feedforward control Target tracking Laser weapon
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Design and implementation of data-driven predictive cloud control system 被引量:2
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作者 GAO Runze XIA Yuanqing +2 位作者 DAI Li SUN Zhongqi ZHAN Yufeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第6期1258-1268,共11页
The rapid increase of the scale and the complexity of the controlled plants bring new challenges such as computing power and storage for conventional control systems.Cloud computing is concerned as a powerful solution... The rapid increase of the scale and the complexity of the controlled plants bring new challenges such as computing power and storage for conventional control systems.Cloud computing is concerned as a powerful solution to handle complex large-scale control missions by using sufficient computing resources.However,the computing ability enables more complex devices and more data to be involved and most of the data have not been fully utilized.Meanwhile,it is even impossible to obtain an accurate model of each device in the complex control systems for the model-based control algorithms.Therefore,motivated by the above reasons,we propose a data-driven predictive cloud control system.To achieve the proposed system,a practical data-driven predictive cloud control testbed is established and together a cloud-edge communication scheme is developed.Finally,the simulations and experiments demonstrate the effectiveness of the proposed system. 展开更多
关键词 cloud control system data-driven predictive control networked control system cloud computing
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Path-Following Based on Nonlinear Model Predictive Control with Adaptive Path Preview
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作者 Jun-Ting LI Chih-Keng CHEN 《同济大学学报(自然科学版)》 EI CAS CSCD 北大核心 2024年第S01期158-164,共7页
This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,... This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC. 展开更多
关键词 path following curvilinear coordinates nonlinear model predictive control
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Cloud-based predictive adaptive cruise control considering preceding vehicle and slope information
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作者 GAO Bolin WANG Luyao +6 位作者 LI Shuyan WAN Keke WANG Xuepeng ZHANG Jin WANG Chen LIU Yanbin ZHONG Wei 《Journal of Systems Engineering and Electronics》 CSCD 2024年第6期1542-1562,共21页
With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted dr... With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%. 展开更多
关键词 predictive adaptive cruise control(PACC) cloud control system(CCS) economic driving
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Performance Monitoring of the Data-driven Subspace Predictive Control Systems Based on Historical Objective Function Benchmark 被引量:3
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作者 王陆 李柠 李少远 《自动化学报》 EI CSCD 北大核心 2013年第5期542-547,共6页
关键词 预测控制系统 性能监控 数据驱动 子空间 历史 基准 监视控制器 目标函数
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The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis 被引量:1
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作者 Cong Li Xiuye Wang +2 位作者 Yuze Ma Fengjie Xu Guolai Yang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第1期351-363,共13页
To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method... To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error. 展开更多
关键词 Tank stability control Constraint-following Adaptive robust control Uncertainty analysis prediction of projectile-target intersection
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APPLICATION OF PREDICTIVE CONTROL ALGORITHM IN SPEED CONTROL SYSTEM 被引量:6
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作者 Chen Jida Zhang Qian Liao Liqing(College of Information Engineering, Central South University of Technology, Changsha, 410083, China) 《Journal of Central South University》 SCIE EI CAS 1995年第2期48-53,共6页
In view of DC speed control system, this paper presents a predictive control algorithm to replace traditional PID control. System predictive model requires little information of the controlled object, and because it... In view of DC speed control system, this paper presents a predictive control algorithm to replace traditional PID control. System predictive model requires little information of the controlled object, and because it adopts rolling optimum method, system 展开更多
关键词 predictive control ALGORITHM DIGITAL TRIGGER PID comtrol
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Multivariable PI Type Generalized Predictive Control 被引量:4
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作者 Chen, Zengqiang Zhao, Tianhang Yuan, Zhuzhi 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1998年第2期8-13,共6页
This paper presents a multivariable generalized predictive controller with proportion and integration structure by modifying the quadratic criterion of the usual MGPC. The control performance has been improved greatl... This paper presents a multivariable generalized predictive controller with proportion and integration structure by modifying the quadratic criterion of the usual MGPC. The control performance has been improved greatly. The effectiveness of the controller is demonstrated by the simulation result. 展开更多
关键词 predictive control Self-tuning control Multivariable control PI control
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Robust predictive control of polytopic uncertain systems with both state and input delays 被引量:4
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作者 Lu Mei Shao Huihe 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2007年第3期616-621,共6页
A robust model predictive control algorithm for discrete linear systems with both state and input delays subjected to constrained input control is presented, where the polytopic uncertainties exist in both state matri... A robust model predictive control algorithm for discrete linear systems with both state and input delays subjected to constrained input control is presented, where the polytopic uncertainties exist in both state matrices and input matrices. The algorithm optimizes an upper bound with respect to a state feedback control law. The feedback control law is presented based on the construction of a parameter-dependent Lyapunov function. The above optimization problem can be formulated as a LMI-based optimization. The feasibility of the optimization problem guarantees that the algorithm is robustly stable. The simulation results verify the effectiveness of the proposed algorithm. 展开更多
关键词 predictive control robust control time-delay system linear matrix inequality.
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Constrained predictive control based on T-S fuzzy model for nonlinear systems 被引量:7
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作者 Su Baili Chen Zengqiang Yuan Zhuzhi 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2007年第1期95-100,共6页
A constrained generalized predictive control (GPC) algorithm based on the T-S fuzzy model is presented for the nonlinear system. First, a Takagi-Sugeno (T-S) fuzzy model based on the fuzzy cluster algorithm and th... A constrained generalized predictive control (GPC) algorithm based on the T-S fuzzy model is presented for the nonlinear system. First, a Takagi-Sugeno (T-S) fuzzy model based on the fuzzy cluster algorithm and the orthogonalleast square method is constructed to approach the nonlinear system. Since its consequence is linear, it can divide the nonlinear system into a number of linear or nearly linear subsystems. For this T-S fuzzy model, a GPC algorithm with input constraints is presented. This strategy takes into account all the constraints of the control signal and its increment, and does not require the calculation of the Diophantine equations. So it needs only a small computer memory and the computational speed is high. The simulation results show a good performance for the nonlinear systems. 展开更多
关键词 Generalized predictive control (GPC) Nonlinear system T-S fuzzy model Input constraint Fuzzy cluster
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Predictive control for satellite formation keeping 被引量:4
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作者 He Donglei Cao Xibin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第1期161-166,共6页
Based on a Hill equation and a nonlinear equation describing the desired and real dynamics of relative motion separately, a predictive controller is brought forward, which makes the real state track the desired ones t... Based on a Hill equation and a nonlinear equation describing the desired and real dynamics of relative motion separately, a predictive controller is brought forward, which makes the real state track the desired ones to keep satellite formation. The stability and robustness of the controller are analyzed. Finally, comparing the simulation results of the proposed controller with that of the traditional, proportional-differential controller shows that the former one is capable of keeping the satellite formation more favorably, considering the disturbances such as the J2 perturbations. 展开更多
关键词 predictive control satellites formation low-thrust technology Lyapunov theorem
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Observer-based robust predictive control of singular systems with time-delay and parameter uncertainties 被引量:4
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作者 Liu Xiaohua Yang Yuanhua 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第3期590-597,共8页
The problem of observer-based robust predictive control is studied for the singular systems with norm-bounded uncertainties and time-delay, and the design method of robust predictive observer-based controller is propo... The problem of observer-based robust predictive control is studied for the singular systems with norm-bounded uncertainties and time-delay, and the design method of robust predictive observer-based controller is proposed. By constructing the Lyapunov function with the error terms, the infinite time domain "min-max" optimization problems are converted into convex optimization problems solving by the linear matrix inequality (LMI), and the sufficient conditions for the existence of this control are derived. It is proved that the robust stability of the closed-loop singular systems can be guaranteed by the initial feasible solutions of the optimization problems, and the regular and the impulse-free of the singular systems are also guaranteed. A simulation example illustrates the efficiency of this method. 展开更多
关键词 predictive control singular systems linear matrix inequality state observer TIME-DELAY UNCERTAINTY
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2D multi-model general predictive iterative learning control for semi-batch reactor with multiple reactions 被引量:2
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作者 BO Cui-mei YANG Lei +2 位作者 HUANG Qing-qing LI Jun GAO Fu-rong 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第11期2613-2623,共11页
Batch to batch temperature control of a semi-batch chemical reactor with heating/cooling system was discussed in this study. Without extensive modeling investigations, a two-dimensional(2D) general predictive iterativ... Batch to batch temperature control of a semi-batch chemical reactor with heating/cooling system was discussed in this study. Without extensive modeling investigations, a two-dimensional(2D) general predictive iterative learning control(2D-MGPILC) strategy based on the multi-model with time-varying weights was introduced for optimizing the tracking performance of desired temperature profile. This strategy was modeled based on an iterative learning control(ILC) algorithm for a 2D system and designed in the generalized predictive control(GPC) framework. Firstly, a multi-model structure with time-varying weights was developed to describe the complex operation of a general semi-batch reactor. Secondly, the 2 D-MGPILC algorithm was proposed to optimize simultaneously the dynamic performance along the time and batch axes. Finally, simulation for the controller design of a semi-batch reactor with multiple reactions was involved to demonstrate that the satisfactory performance could be achieved despite of the repetitive or non-repetitive disturbances. 展开更多
关键词 two-dimensional system iterative learning control GENERAL predictive control semi-batch REACTOR
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Robust model predictive control with randomly occurred networked packet loss in industrial cyber physical systems 被引量:9
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作者 CAI Hong-bin LI Ping +1 位作者 SU Cheng-li CAO Jiang-tao 《Journal of Central South University》 SCIE EI CAS CSCD 2019年第7期1921-1933,共13页
For a class of linear discrete-time systems that is subject to randomly occurred networked packet loss in industrial cyber physical systems, a novel robust model predictive control method with active compensation mech... For a class of linear discrete-time systems that is subject to randomly occurred networked packet loss in industrial cyber physical systems, a novel robust model predictive control method with active compensation mechanism was proposed. The probability distribution of packet loss is described as the Bernoulli distributed white sequences. By using the Lyapunov stability theory, the existing sufficient conditions of the controller are derived from solving a group of linear matrix inequalities. Moreover, dropout-rate with uncertainty and unknown dropout-rate are also considered, which can greatly reduce the conservativeness of the controller. The designed robust model predictive control method not only efficiently eliminates the negative effects of the networked data loss in industrial cyber physical systems but also ensures the stability of closed-loop system. Two examples were provided to illustrate the superiority and effectiveness of the proposed method. 展开更多
关键词 robust model predictive control networked control system packet loss linear matrix inequalities (LMIs)
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Dynamic matrix predictive control for a hydraulic looper system in hot strip mills 被引量:2
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作者 YIN Fang-chen SUN Jie +3 位作者 PENG Wen WANG Hong-yu YANG Jing ZHANG Dian-hua 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第6期1369-1378,共10页
Controlling the looper height and strip tension is important in hot strip mills because these variables affect both the strip quality and strip threading. Many researchers have proposed and applied a variety of contro... Controlling the looper height and strip tension is important in hot strip mills because these variables affect both the strip quality and strip threading. Many researchers have proposed and applied a variety of control schemes for this problem, but the increasingly strict market demand for strip quality requires further improvements. This work describes a dynamic matrix predictive control(DMC) strategy that realizes the optimal control of a hydraulic looper multivariable system. Simulation experiments for a traditional controller and the proposed DMC controller were conducted using MATLAB/Simulink software. The simulation results show that both controllers acquire good control effects with model matching. However, when the model is mismatched, the traditional controller produces an overshoot of 32.4% and a rising time of up to 2120.2 ms, which is unacceptable in a hydraulic looper system. The DMC controller restricts the overshoot to less than 0.08%, and the rising time is less than 48.6 ms in all cases. 展开更多
关键词 hot STRIP MILL HYDRAULIC LOOPER system mathematical model dynamic matrix predictive control
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Predictive control for mechanical system with backlash based on hybrid model 被引量:2
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作者 Dou Lihua Dong Lingxun Chen Jie Xia Yuanqing 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第6期1301-1308,共8页
The mechanical system with backlash is distinguished between a"backlash mode"and a"contact mode".The inherent switching between the two operating modes makes the system a prime example of hybrid system.For elimina... The mechanical system with backlash is distinguished between a"backlash mode"and a"contact mode".The inherent switching between the two operating modes makes the system a prime example of hybrid system.For eliminating the bad effect of backlash, a piecewise affine(PWA) model of the mechanical servo system with backlash is built.The optimal control of constrained PWA system is obtained by taking advantage of model predictive control(MPC) method, and the explicit solution of MPC in a look-up table form is figured out by combining the dynamic programming and multi-parametric quadratic programming, thereby establishing an explicit hybrid model predictive controller.Furthermore, a piecewise quadratic(PWQ) function for guaranteeing the stability of closed-loop control is found by formulating the search of PWQ function as a semi-definite programming problem.In the tracking experiments, it is demonstrated that the explicit hybrid model predictive controller has a good traction control effect on the mechanical system with backlash.The error meets the demands of real system.Further, compared to the direct on-line computation, the computation burden is reduced by the explicit solution, thereby being suitable for real-time control of system with short sampling time. 展开更多
关键词 predictive controller hybrid model hybrid control backlash mode.
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Incremental multivariable predictive functional control and its application in a gas fractionation unit 被引量:3
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作者 施惠元 苏成利 +3 位作者 曹江涛 李平 宋英莉 李宁波 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第12期4653-4668,共16页
The control of gas fractionation unit(GFU) in petroleum industry is very difficult due to multivariable characteristics and a large time delay.PID controllers are still applied in most industry processes.However,the t... The control of gas fractionation unit(GFU) in petroleum industry is very difficult due to multivariable characteristics and a large time delay.PID controllers are still applied in most industry processes.However,the traditional PID control has been proven not sufficient and capable for this particular petro-chemical process.In this work,an incremental multivariable predictive functional control(IMPFC) algorithm was proposed with less online computation,great precision and fast response.An incremental transfer function matrix model was set up through the step-response data,and predictive outputs were deduced with the theory of single-value optimization.The results show that the method can optimize the incremental control variable and reject the constraint of the incremental control variable with the positional predictive functional control algorithm,and thereby making the control variable smoother.The predictive output error and future set-point were approximated by a polynomial,which can overcome the problem under the model mismatch and make the predictive outputs track the reference trajectory.Then,the design of incremental multivariable predictive functional control was studied.Simulation and application results show that the proposed control strategy is effective and feasible to improve control performance and robustness of process. 展开更多
关键词 gas fractionation unit multivariable process incremental predictive functional control
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Identification and nonlinear model predictive control of MIMO Hammerstein system with constraints 被引量:3
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作者 李大字 贾元昕 +1 位作者 李全善 靳其兵 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第2期448-458,共11页
This work is concerned with identification and nonlinear predictive control method for MIMO Hammerstein systems with constraints. Firstly, an identification method based on steady-state responses and sub-model method ... This work is concerned with identification and nonlinear predictive control method for MIMO Hammerstein systems with constraints. Firstly, an identification method based on steady-state responses and sub-model method is introduced to MIMO Hammerstein system. A modified version of artificial bee colony algorithm is proposed to improve the prediction ability of Hammerstein model. Next, a computationally efficient nonlinear model predictive control algorithm(MGPC) is developed to deal with constrained problem of MIMO system. The identification process and performance of MGPC are shown. Numerical results about a polymerization reactor validate the effectiveness of the proposed method and the comparisons show that MGPC has a better performance than QDMC and basic GPC. 展开更多
关键词 model predictive control system identification constrained systems Hammerstein model polymerization reactor artificial bee colony algorithm
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Predictive cruise control for heavy trucks based on slope information under cloud control system 被引量:9
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作者 LI Shuyan WAN Keke +3 位作者 GAO Bolin LI Rui WANG Yue LI Keqiang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第4期812-826,共15页
With the advantage of fast calculation and map resources on cloud control system(CCS), cloud-based predictive cruise control(CPCC) for heavy trucks has great potential to improve energy efficiency, which is significan... With the advantage of fast calculation and map resources on cloud control system(CCS), cloud-based predictive cruise control(CPCC) for heavy trucks has great potential to improve energy efficiency, which is significant to achieve the goal of national carbon neutrality. However, most investigations focus on the on-board predictive cruise control(PCC) system,lack of research on CPCC architecture under CCS. Besides, the current PCC algorithms have the problems of a single control target and high computational complexity, which hinders the improvement of the control effect. In this paper, a layered architecture based on CCS is proposed to effectively address the realtime computing of CPCC system and the deployment of its algorithm on vehicle-cloud. In addition, based on the dynamic programming principle and the proposed road point segmentation method(RPSM), a PCC algorithm is designed to optimize the speed and gear of heavy trucks with slope information. Simulation results show that the CPCC system can adaptively control vehicle driving through the slope prediction, with fuel-saving rate of 6.17% in comparison with the constant cruise control. Also,compared with other similar algorithms, the PCC algorithm can make the engine operate more in the efficient zone by cooperatively optimizing the gear and speed. Moreover, the RPSM algorithm can reconfigure the road in advance, with a 91% roadpoint reduction rate, significantly reducing algorithm complexity.Therefore, this study has essential research significance for the economic driving of heavy trucks and the promotion of the CPCC system. 展开更多
关键词 predictive cruise control(PCC) cloud control system(CCS) layered architecture road point segmentation method(RPSM) economic driving
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