Multi‐variable and multi‐objective gain‐scheduled control based on Youla‐Kucera parameterization: Application to autonomous vehicles
Hussam Atoui,
Olivier Sename,
Vicente Milanes
et al.
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/discont… Show more
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