LPV/LFT Control Design Equipped with a Command Governor for Different Steering Scenarios
نویسندگان
چکیده
This paper presents a Linear Parameter Varying (LPV) based approach to handle different steering scenarios for autonomous vehicles. The proposed methodology consists of the design fast and performant LPV/LFT controller which can track generated yaw rate reference, speed operating range, lane tracking smooth/fast changes. handling dynamic maneuver is achieved by Command Governor (CG), feeds updated closed loop system with “virtual” reference. virtual signal solution an online receding horizon optimization problem, meeting simultaneously safety bounds vehicle. efficiency suggested illustrated simulation results parameters automated Renault Zoe.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2021
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2021.08.594