Combined LPV and ultra-local model-based control design approach for autonomous vehicles

被引：0
|
作者：
Fenyes, Daniel [1 ]
Hegedus, Tamas [1 ]
Nemeth, Balazs [1 ,2 ]
Szabo, Zoltan
Gaspar, Peter [1 ]
机构：
[1] Eotvos Lorand Res Network ELKH, Inst Comp Sci & Control SZTAKI, Kende U 13-17, H-1111 Budapest, Hungary
[2] Budapest Univ Technol & Econ, Dept Control Transportat & Vehicle Syst, Stoczek U 2, Budapest, Hungary
来源：
2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC) | 2022年
关键词：
D O I：
10.1109/CDC51059.2022.9992983
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a novel approach for controlling highly nonlinear systems using the combination of LPV framework and ultra-local model-based solution. Firstly, a new formulation of the ultra-local model is presented, by which the implementation-related issues can be overcome. Secondly, an extended state-space representation is introduced, which includes the nominal model of the considered nonlinear system and the effect of the ultra-local model. This extended statespace representation serves as the basis of LPV-based control design. In this way, the stability of the closed-loop system can be guaranteed, while the variation of the tuning parameter (alpha) of the ultra-local model can also be handled. The effectiveness and the operation of the proposed control strategy are demonstrated through a vehicle-oriented control problem.
引用
收藏
页码：3303 / 3308
页数：6
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