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Gain-scheduling LPV control for autonomous vehicles including friction force estimation and compensation mechanism

Author
Alcala, E.; Puig, V.; Quevedo, J.; Escobet, T.
Type of activity
Journal article
Journal
IET control theory and applications (Online Edition)
Date of publication
2018-08-14
Volume
12
Number
12
First page
1683
Last page
1693
DOI
10.1049/iet-cta.2017.1154
Repository
http://hdl.handle.net/2117/132130 Open in new window
URL
https://ieeexplore.ieee.org/document/8418323/ Open in new window
Abstract
This study presents a solution for the integrated longitudinal and lateral control problem of urban autonomousvehicles. It is based on a gain-scheduling linear parameter-varying (LPV) control approach combined with the use of anUnknown Input Observer (UIO) for estimating the vehicle states and friction force. Two gain-scheduling LPV controllers are usedin cascade configuration that use the kinematic and dynamic vehicle models and the friction and observed states pr...
Keywords
closed loop systems, control system synthesis, friction, linear matrix inequalities, linear quadratic control, linear systems, mobile robots, nonlinear control systems, observers, road vehicles, robot dynamics, robot kinematics, robust control
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants