Title :
Obstacle-Sensitive Trajectory Regulation via Gain Scheduling and Semidefinite Programming
Author :
Farhood, Mazen ; Feron, Eric
Author_Institution :
Dept. of Aerosp. & Ocean Eng., Virginia Polytech. Inst. & State Univ. (Virginia Tech), Blacksburg, VA, USA
fDate :
7/1/2012 12:00:00 AM
Abstract :
The regulation of vehicle trajectories in the vicinity of obstacles must focus on “critical outputs,” which vary as a function of the vehicle´s position relative to obstacles as exemplified by the task of parking a car. We present an application of linear parameter-varying techniques to address this problem. We design closed-loop stable, parameter-dependent controllers, whose strategy changes depending on the position of the vehicle in the obstacle environment. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is demonstrated on a three degrees-of-freedom helicopter.
Keywords :
closed loop systems; collision avoidance; control system synthesis; mathematical programming; road traffic control; trajectory control; closed-loop stable; degrees-of-freedom helicopter; gain scheduling; linear parameter-varying techniques; obstacle environment; obstacle-sensitive trajectory regulation; online controller construction; parameter-dependent controllers; semidefinite programming; vehicle trajectories; Helicopters; Linear matrix inequalities; Lyapunov methods; Mathematical model; Trajectory; Vehicle dynamics; Vehicles; ${rm H}_infty$ control; linear matrix inequalities (LMIs); linear parameter varying (LPV); parameter-dependent Lyapunov functions; three degrees-of-freedom (3DOF) helicopter;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2011.2159718