Hegedűs, Tamás and Fényes, Dániel and Németh, Balázs and Szabó, Zoltán and Gáspár, Péter (2025) LPV model identification based on error-based ultra-local model for lateral control purposes. In: Linear Parameter Varying Systems - 6th LPVS 2025, 2025.07.02-04., Porto, Portugália. (In Press)
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Abstract
In this paper, a Linear Parameter-Varying (LPV) control algorithm that integrates an errorbased 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 errorbased 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
| Item Type: | Conference or Workshop Item (Paper) |
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| Uncontrolled Keywords: | ultra-local model, LPV control, trajectory tracking |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TK Electrical engineering. Electronics Nuclear engineering / elektrotechnika, elektronika, atomtechnika T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| Depositing User: | Dr Dániel Fényes |
| Date Deposited: | 23 Sep 2025 11:57 |
| Last Modified: | 23 Sep 2025 11:57 |
| URI: | https://real.mtak.hu/id/eprint/224943 |
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