On Robust and Predictive Control Approaches for Linear Parameter Varying Systems: Application to Vehicle Lateral Control
Résumé
on how to design robust and predictive control approaches
for (discrete-time) Linear Parameter Varying (LPV) systems.
In particular, some recent results concerning LPV state feedback
design using the H∞ framework and Model Predictive
Control (MPC) for LPV systems are presented. Then, both
approaches are illustrated in two important cases for automotive
applications. First, the lateral steering control of
autonomous vehicles is considered. Then, an application to
Advanced Driver-Assistance Systems is presented, where
MPC and LPV approaches are integrated in view of optimal
selection of the scheduling parameter.