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Fixed-structure parameter-dependent state feedback controller: A scaled autonomous vehicle path-tracking application
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DOI：10.1016/j.conengprac.2024.105911.png)
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Abstract
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This paper introduces theoretical conditions for the computation of a novel type of state -feedback controller that makes use of Linear Parameter Varying approaches for synthesis. The novelty of this new State -Feedback controller lies on the fact that the controller has a fixed structure with constants matrix gains. However, the controller gains are affine on a parameter dependent basis function, which allows the controller to self -schedule according to real-time changes of the varying parameters. This type of controller is conceived with a focus on implementation, as in contrast with most other LPV approaches. The implementation of this ParameterDependent State -Feedback controller does not require any online interpolation or matrix inverse operations, independently of the number of varying parameters. The performance of the proposed approach is validated in a Scaled Autonomous Vehicle for steering control in a path tracking application.
Keywords:
LPV
Robust control
Parameter-dependent controller
Autonomous vehicle
Lateral dynamics
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