SDRE preview control for a LPV modelled autonomous vehicle

Research output: Contribution to conferencePaper

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.

Conference

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

Fingerprint

Riccati equations
Controllers

Keywords

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

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.
Cebeci, Cagatay ; Grimble, Michael ; Recalde-Camacho, Luis ; Katebi, Reza. / SDRE preview control for a LPV modelled autonomous vehicle. Paper presented at 3rd IFAC Workshop on Linear Parameter-Varying Systems, Eindhoven, Netherlands.6 p.
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title = "SDRE preview control for a LPV modelled autonomous vehicle",
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.",
keywords = "autonomous vehicles, lateral dynamics, lane change, predictive control, NGMV, PID",
author = "Cagatay Cebeci and Michael Grimble and Luis Recalde-Camacho and Reza Katebi",
year = "2019",
month = "11",
day = "4",
language = "English",
note = "3rd IFAC Workshop on Linear Parameter-Varying Systems, LPVS 2019 ; Conference date: 04-11-2019 Through 06-11-2019",
url = "https://lpvs2019.tue.nl/",

}

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, 4/11/19 - 6/11/19, .

SDRE preview control for a LPV modelled autonomous vehicle. / Cebeci, Cagatay; Grimble, Michael; Recalde-Camacho, Luis; Katebi, Reza.

2019. Paper presented at 3rd IFAC Workshop on Linear Parameter-Varying Systems, Eindhoven, Netherlands.

Research output: Contribution to conferencePaper

TY - CONF

T1 - SDRE preview control for a LPV modelled autonomous vehicle

AU - Cebeci, Cagatay

AU - Grimble, Michael

AU - Recalde-Camacho, Luis

AU - Katebi, Reza

PY - 2019/11/4

Y1 - 2019/11/4

N2 - 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.

AB - 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.

KW - autonomous vehicles

KW - lateral dynamics

KW - lane change

KW - predictive control

KW - NGMV

KW - PID

UR - https://lpvs2019.tue.nl/

M3 - Paper

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