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Multi-Variable and Multi-Objective Gain-Scheduled Control Based on Youla-Kucera Parameterization: Application to Autonomous Vehicles
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  • Hussam Atoui,
  • Olivier sename,
  • Vicente Milanes,
  • John-Jairo Martinez-Molina
Hussam Atoui
Technocentre Renault

Corresponding Author:hussam.atoui@outlook.com

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Olivier sename
Universite Grenoble Alpes Grenoble IAE
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Vicente Milanes
Renault EspaƱa SA
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John-Jairo Martinez-Molina
Universite Grenoble Alpes Grenoble IAE
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Abstract

This paper presents a Youla-Kucera based interpolation between a set of Linear Parameter-Varying (LPV) controllers, each one being a gain-scheduled of Linear Time-Invariant (LTI) controllers designed separately for different operating points. The gain-scheduling is achieved based on Youla-Kucera (YK) parameterization. A generalized LPV-YK control structure is designed to interpolate between various LPV controllers. The closed-loop system is proved to guarantee the quadratic stability for any continuous/discontinuous interpolating signals in terms of a set of Linear Matrix Inequalities (LMIs). The proposed method can help multi-variable and multi-objective systems to achieve high performances at different operating conditions and different critical situations regardless of the interpolation rate. A numerical example is simulated to show the importance of the proposed method to achieve different objectives for lateral control of autonomous vehicles. In addition, the approach has been tested on a real Renault ZOE vehicle to validate its real performance, and compare it with a standard polytopic LPV controller.
11 Feb 2023Submitted to International Journal of Robust and Nonlinear Control
16 Feb 2023Assigned to Editor
16 Feb 2023Submission Checks Completed
16 Feb 2023Review(s) Completed, Editorial Evaluation Pending
22 Feb 2023Reviewer(s) Assigned