Hegedűs, Tamás and Fényes, Dániel and Gáspár, Péter (2025) LPV-Based Control Design using an Error-Based Ultra-Local Model. IFAC PAPERSONLINE, 59 (15). pp. 127-132. ISSN 2405-8971 10.1016/j.ifacol.2025.10.069

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Abstract

In this paper, an LPV-based control design framework is presented, in which a reformulated ultra-local model is integrated. The limitations of the original ultra-local model-based control structure, are analyzed and a modified version of it is proposed. The key concept of this approach is to integrate the whole modified ultra-local model into the polytopic modeling framework. This results in an extended state-space model, the basis for the LPV control design. The model uncertainty is handled by the ultra-local model, while the stability requirements are guaranteed by the LPV controller. Moreover, the tuning parameter of the ultra-local model is handled as a scheduling parameter of the LPV controller. The effectiveness and operation of the proposed control algorithm are demonstrated through a vehicle-oriented application. © © 2025 The Authors.

Item Type:	Article
Uncontrolled Keywords:	uncertainty analysis; CONTROLLERS; Trajectory tracking; State space methods; Control structure; Model based controls; Polytopic models; Control design; LPV control; LPV control; Local model; Modelling framework; Design frameworks; trajectory-tracking; ultra-local model; ultra-local model;
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:	11 Dec 2025 07:38
Last Modified:	11 Dec 2025 07:38
URI:	https://eprints.sztaki.hu/id/eprint/10999

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