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Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning

Author
Alcala, E.; Puig, V.; Quevedo, J.; Escobet, T.; Comasolivas, R.
Type of activity
Journal article
Journal
Control engineering practice
Date of publication
2018-04-01
Volume
73
First page
1
Last page
12
DOI
https://doi.org/10.1016/j.conengprac.2017.12.004 Open in new window
Repository
http://hdl.handle.net/2117/118151 Open in new window
URL
https://www.sciencedirect.com/science/article/pii/S0967066117302721 Open in new window
Abstract
This paper presents the control of an autonomous vehicle using a Lyapunov-based technique with a LQR-LMI tuning. Using the kinematic model of the vehicle, a non-linear control strategy based on Lyapunov theory is proposed for solving the control problem of autonomous guidance. To optimally adjust the parameters of the Lyapunov controller, the closed loop system is reformulated in a linear parameter varying (LPV) form. Then, an optimization algorithm that solves the LQR-LMI problem is used to det...
Citation
Alcala, E., Puig, V., Quevedo, J., Escobet, T., Comasolivas, R. Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning. "Control engineering practice", 1 Abril 2018, vol. 73, p. 1-12.
Keywords
Autonomous vehicle, LMI, LPV control, LQR, Lyapunov control
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems
SIC - Smart Control Systems

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