Skip to main content
Home
ENHU

Main navigation

  • Discover
    • News
    • Events
  • Research & development
    • Areas of application
    • Research topics
  • Resources
    • Publications
    • Lead researchers
  • Partners
    • Consortium members
    • International partners
    • Industry contacts
    • University contacts
  1. Home
  2. Publications
IFAC-PapersOnLine

LPV control design based on ultra-local model for trajectory tracking problem

Széchenyi Plusz RRF

Model Free Control (MFC) is a novel technique to overcome some modeling and control challenges of highly nonlinear systems. The MFC control strategy consists of two parts, i.e., ultra-local model-based control and state feedback control. This paper proposes the robust Linear Parameter-Varying (LPV) method for design the state feedback control part of the strategy. In the design of robust LPV control the effect of the ultra-local model, formed as a disturbance, is involved. The contribution of this extension to the original concept of MFC design is that a desired performance of the closed-loop system can be achieved. The effectiveness of the presented control strategy is demonstrated through a trajectory tracking problem of autonomous vehicles using the high-fidelity simulation software, IPG CarMaker.

Url
https://www.sciencedirect.com/science/article/pii/S2405896322015981?via%3Dihub=
Authors
Hegedűs, T.
Fényes, D.
Zoltán Szabó, DSc
Balázs Németh, PhD
Péter Gáspár, DSc
Areas of application

Autonomous Road Vehicles

Read more
Institutes

Kapcsolat

Prof. Dr. Péter Gáspár

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

© 2020-2023 National Laboratory for Autonomous Systems, Budapest