文章基本信息

标题：LPV control design based on ultra-local model for trajectory tracking problem
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作者：Tamás Hegedűs ; Dániel Fényes ; Zoltán Szabó 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：25
页码：175-180
DOI：10.1016/j.ifacol.2022.09.343
语种：English
出版社：Elsevier
摘要：AbstractModel 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.
关键词：Keywordsultra-local modeltrajectory trackingautonomous vehiclesLPV control