A reduced LPV polytopic look-ahead steering controller for autonomous vehicles

This paper presents a novel design of Linear Parameter Varying (LPV) controller based-on the polytopic approach, for path-following system an automated vehicle. The implementation proposed steering is reduction initial 3D (3 Dimensional) polytope that, due to conservatism specific approach suffers from over-bounding. algorithm aims at tightening by reducing vertices and volume that includes parameter variations i.e longitudinal velocity car, its inverse and, look-ahead distance algorithm. In this paper, real-time reduced LPV/Polytopic as optimization problem according current measured values parameters. control system, has been validated in high-fidelity simulations, real-life experiment test-bed platform (Renault Zoe) private test track low higher speeds showing encouraging performance sustaining good tracking comfort same time.