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

页码：3303 / 3308

页数：6

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