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.

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• Item metadata

  Item type:	Conference or Workshop Item(Paper)
  ID code:	70444
  Dates:	Date Event 4 November 2019 Published 28 June 2019 Accepted
  Subjects:	Technology > Electrical engineering. Electronics Nuclear engineering
  Department:	Faculty of Engineering > Electronic and Electrical Engineering
  Depositing user:	Pure Administrator
  Date deposited:	07 Nov 2019 09:30
  Last modified:	17 Apr 2024 01:04
  Related URLs:	Event
  URI:	https://strathprints.strath.ac.uk/id/eprint/70444