An LPV approach to obstacle-sensitive trajectory Regulation

Mazen Farhood; Eric Feron

doi:10.1115/DSCC2009-2772

An LPV approach to obstacle-sensitive trajectory Regulation

Mazen Farhood, Eric Feron

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle's regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter. Copyright © 2009 by ASME.

Original language	English (US)
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)[email protected]
Pages	1737-1744
Number of pages	8
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2772
State	Published - Jan 1 2010
Externally published	Yes

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Generated from Scopus record by KAUST IRTS on 2021-02-18

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10.1115/DSCC2009-2772

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N2 - The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle's regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter. Copyright © 2009 by ASME.

AB - The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle's regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter. Copyright © 2009 by ASME.

UR - https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2009/48937/825/346839

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BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

PB - American Society of Mechanical Engineers (ASME)[email protected]

ER -

An LPV approach to obstacle-sensitive trajectory Regulation

Abstract

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