SDRE preview control for a LPV modelled autonomous vehicle

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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.
Original languageEnglish
Number of pages6
Publication statusPublished - 4 Nov 2019
Event3rd IFAC Workshop on Linear Parameter-Varying Systems - Eindhoven University of Technology, Eindhoven, Netherlands
Duration: 4 Nov 20196 Nov 2019
https://lpvs2019.tue.nl/

Conference

Conference3rd IFAC Workshop on Linear Parameter-Varying Systems
Abbreviated titleLPVS 2019
CountryNetherlands
CityEindhoven
Period4/11/196/11/19
Internet address

Keywords

  • autonomous vehicles
  • lateral dynamics
  • lane change
  • predictive control
  • NGMV
  • PID

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  • Cite this

    Cebeci, C., Grimble, M., Recalde-Camacho, L., & Katebi, R. (2019). SDRE preview control for a LPV modelled autonomous vehicle. Paper presented at 3rd IFAC Workshop on Linear Parameter-Varying Systems, Eindhoven, Netherlands.