LPV-Based Control Design with Guarantees: a Case Study for Automated Steering of Road Vehicles

Németh, Balázs and Fazekas, Máté and Bagoly, Z. and Gáspár, Péter and Sename, O. (2023) LPV-Based Control Design with Guarantees: a Case Study for Automated Steering of Road Vehicles. In: 2023 European Control Conference (ECC). Institute of Electrical and Electronics Engineers, Piscataway (NJ), pp. 1-6. ISBN 9783907144084 10.23919/ECC57647.2023.10178394

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This paper proposes a Linear Parameter Varying (LPV) based steering control design method, which contains data aided control elements, e.g., learning-based agents. The framework is based on a supervisory control structure, which contains a supervisor, a LPV controller and the data aided control element. The goal of this paper is to provide a safe steering control, with which the human steering intervention can be effectively imitated. Moreover, in the proposed framework the data aided control can be adapted to the actual requirements on driving style, without re-designing the LPV control. Thus, a general control structure with performance guarantees on path following constraints is provided, in which the data aided steering control element can be varied. The effectiveness of the proposed method through driver-in-the-loop scenarios is illustrated, in which different settings on the control system are analyzed.

Item Type: Book Section
Uncontrolled Keywords: Engineering, Electrical & Electronic; Automation & Control Systems;
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Systems and Control Lab
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 01 Feb 2024 09:07
Last Modified: 01 Feb 2024 09:07
URI: https://eprints.sztaki.hu/id/eprint/10694

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