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- Title
Multi‐variable and multi‐objective gain‐scheduled control based on Youla‐Kucera parameterization: Application to autonomous vehicles.
- Authors
Atoui, Hussam; Sename, Olivier; Milanes, Vicente; Martinez‐Molina, John‐Jairo
- Abstract
This paper presents a Youla‐Kucera based interpolation between a set of Linear Parameter‐Varying (LPV) controllers, each one being a gain‐scheduled of Linear Time‐Invariant (LTI) controllers designed separately for different operating points. The gain‐scheduling is achieved based on Youla‐Kucera (YK) parameterization. A generalized LPV‐YK control structure is designed to interpolate between various LPV controllers. The closed‐loop system is proved to guarantee the quadratic stability for any continuous/discontinuous interpolating signals in terms of a set of Linear Matrix Inequalities (LMIs). The proposed method can help multi‐variable and multi‐objective systems to achieve high performances at different operating conditions and different critical situations regardless of the interpolation rate. A numerical example is simulated to show the importance of the proposed method to achieve different objectives for lateral control of autonomous vehicles. In addition, the approach has been tested on a real Renault ZOE vehicle to validate its real performance, and compare it with a standard polytopic LPV controller.
- Subjects
AUTONOMOUS vehicles; LINEAR matrix inequalities; PARAMETERIZATION; HIGH performance computing; CLOSED loop systems
- Publication
International Journal of Robust & Nonlinear Control, 2024, Vol 34, Issue 9, p5889
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.7298