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.
|Number of pages||6|
|Publication status||Published - 4 Nov 2019|
|Event||3rd IFAC Workshop on Linear Parameter-Varying Systems - Eindhoven University of Technology, Eindhoven, Netherlands|
Duration: 4 Nov 2019 → 6 Nov 2019
|Conference||3rd IFAC Workshop on Linear Parameter-Varying Systems|
|Abbreviated title||LPVS 2019|
|Period||4/11/19 → 6/11/19|
- autonomous vehicles
- lateral dynamics
- lane change
- predictive control
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.