Hegedűs, Tamás and Fényes, Dániel and Gáspár, Péter (2025) LPV-Based Control Design using an Error-Based Ultra-Local Model. In: Linear Parameter Varying Systems - 6th LPVS 2025, 2025.07.02-04., Portó, Portugália. (In Press)
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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.
| 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 12:01 |
| Last Modified: | 23 Sep 2025 12:01 |
| URI: | https://real.mtak.hu/id/eprint/224946 |
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