Fényes, Dániel and Hegedűs, Tamás and Gáspár, Péter (2024) Enhanced LPV-based lateral control using ultra-local model-based slip angle estimation. In: 2024 IEEE 63rd Conference on Decision and Control (CDC). Proceedings of the IEEE Conference on Decision and Control . Institute of Electrical and Electronics Engineers (IEEE), Piscataway (NJ), pp. 7226-7231. ISBN 9798350316322 10.1109/CDC56724.2024.10885900

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Abstract

The paper presents a combined observer and lateral control design approach for autonomous vehicles. The goal of the observer design is to estimate the front and rear slip angles of the vehicle together with the cornering stiffness. The observer is based on the combination of the polytopic LPV approach and the ultra-local model. The ultra-local model is used to update the cornering stiffness and, in this way, improve the performance level of the LPV observer. Then, the resulted observer is exploited during the LPV-based lateral control design. The improved lateral control can adapt to different circumstances such as low adhesion coefficient. The proposed observer and LPV controller is implemented and tested in MATLAB/Simulink environment and using the high-fidelity simulation software, CarMaker. © 2024 IEEE.

Item Type:	Book Section
Uncontrolled Keywords:	Autonomous 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:	19 Sep 2025 13:14
Last Modified:	19 Sep 2025 13:14
URI:	https://eprints.sztaki.hu/id/eprint/10974

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