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Pré-Publication, Document De Travail Année : 2022

Advanced LPV-YK Control Design with Experimental Validation on Autonomous Vehicles

Résumé

This paper presents and experimentally validates two new methodologies to perform a smooth switching between a set of Linear Parameter-Varying (LPV) controllers that have been designed separately for different objectives. For a given partition of the scheduling parameter region, a set of LPV controllers (polytopic and grid-based) are designed separately on each subregion based on Youla-Kucera (YK) parameterization. Such kind of parameterization is beneficial to switch or interpolate between multiple controllers without adding any constraints to the design of the local controllers and the switching signals. The closed-loop system is proved to guarantee stability and performance under arbitrary switching in terms of a set of Linear Matrix Inequalities (LMIs). An application to autonomous vehicle lateral control is chosen for its challenging objectives. Experimental validation and comparison are depicted to illustrate the performance improvement compared to previous LPV control approaches.
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Dates et versions

hal-03648497 , version 1 (21-04-2022)

Identifiants

  • HAL Id : hal-03648497 , version 1

Citer

Hussam Atoui, Olivier Sename, Vicente Milanes, John Jairo Martinez Molina. Advanced LPV-YK Control Design with Experimental Validation on Autonomous Vehicles. 2022. ⟨hal-03648497⟩
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