SDRE preview control for a LPV modelled autonomous vehicle

Cebeci, Cagatay and Grimble, Michael and Recalde-Camacho, Luis and Katebi, Reza (2019) SDRE preview control for a LPV modelled autonomous vehicle. In: 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019-11-04 - 2019-11-06, Eindhoven University of Technology.

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    Abstract

    This paper aims to present a Preview Controller by taking State-Dependent Riccati Equation (SDRE) approach to the standard Preview Control solution based on Linear Quadratic (LQ) framework. A Matlab/Simulink simulation study for performing a lane change task for a LPV modelled autonomous vehicle has been conducted. The control objective is to achievereference tracking under parameter variation. It is assumed that the system has access to the future reference information for Np preview steps. The results show that the SDRE Preview Controller demonstrates good transient behaviour and achieve reference tracking objective.