LPV model identification based on error-based ultra-local model for lateral control purposes

Hegedűs, Tamás and Fényes, Dániel and Németh, Balázs and Szabó, Zoltán Béla and Gáspár, Péter (2025) LPV model identification based on error-based ultra-local model for lateral control purposes. IFAC PAPERSONLINE, 59 (15). pp. 79-84. ISSN 2405-8971 10.1016/j.ifacol.2025.10.061

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Abstract

In this paper, a Linear Parameter-Varying (LPV) control algorithm that integrates an error-based ultra-local model is presented. At each iteration, an ultra-local model is computed, serving as the basis for identifying the scheduling variable of the polytopic system. Analysis of the identified models presents a high correlation among the ultra-local models and key system parameters, which are challenging to measure with high accuracy in practice. To overcome this limitation, the deviation from the nominal model is computed using the error-based ultra-local model. The proposed approach is validated through a lateral control problem for automated vehicles, which is implemented in the vehicle dynamics simulation software, CarMaker. The results highlight the potential of combining the LPV control framework with the error-based ultra-local modeling technique to increase the adaptability and performance of control algorithms in dynamic environments. © © 2025 The Authors.

Item Type: Article
Uncontrolled Keywords: ERRORS; computer software; iterative methods; Industrial electronics; Trajectory tracking; Model identification; Linear parameter varying models; LPV control; Local model; Linear Parameter Varying Control; Lateral control; trajectory-tracking; Scheduling variable; ultra-local model; Control purpose; Polytopic system; 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 07:39
Last Modified: 11 Dec 2025 07:39
URI: https://eprints.sztaki.hu/id/eprint/11000

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