Related papers: Gain Scheduling LPV Control Scheme for the Autonom…
In this study, we detail the procedures for designing gain scheduling controllers by Linear Quadratic $H_\infty$ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed at steering control of the…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…
Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control…
Data-based safe gain-scheduling controllers are presented for discrete-time linear parameter-varying systems (LPV) with polytopic models. First, $\lambda$-contractivity conditions are provided under which safety and stability of the LPV…
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while lateral controllers…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal performance, and ability…
This paper proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid LPV synthesis problem is reformulated…
This paper investigates the design of a robust output-feedback linear parameter-varying (LPV) gain-scheduled controller for the speed regulation of a surface permanent magnet synchronous motor (SPMSM). Motor dynamics is defined in the…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
In this paper, we present a systematic approach for high-performance and efficient trajectory tracking control of autonomous wheel loaders. With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used…
In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
This paper synthesizes a gain-scheduled controller to stabilize all possible Linear Parameter-Varying (LPV) plants that are consistent with measured input/state data records. Inspired by prior work in data informativity and LTI…