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IEEE Conference on Decision and Control

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

Széchenyi Plusz RRF

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 state-space 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 (α) 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.

Url
https://ieeexplore.ieee.org/document/9992983
Authors
Fényes, D.
Hegedűs, T.
Balázs Németh, PhD
Zoltán Szabó, DSc
Péter Gáspár, DSc
Areas of application

Autonomous Road Vehicles

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Institutes

Kapcsolat

Prof. Dr. Péter Gáspár

Hungary, H-1111 Budapest,
Kende u. 13-17.
+36 1 279 6000
autonom@nemzetilabor.hu

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