Tamás Hegedűs, Dániel Fényes, Zoltán Szabó, Balázs Németh, Péter Gáspár, LPV control design based on ultra-local model for trajectory tracking problem, IFAC-PapersOnLine, Volume 55, Issue 25, 2022, Pages 175-180, ISSN 2405-8963.
Model Free Control (MFC) is a novel technique to overcome some modeling and control challenges of highly nonlinear systems. The MFC control strategy consists of two parts, i.e., ultra-local model-based control and state feedback control. This paper proposes the robust Linear Parameter-Varying (LPV) method for design the state feedback control part of the strategy. In the design of robust LPV control the effect of the ultra-local model, formed as a disturbance, is involved. The contribution of this extension to the original concept of MFC design is that a desired performance of the closed-loop system can be achieved. The effectiveness of the presented control strategy is demonstrated through a trajectory tracking problem of autonomous vehicles using the high-fidelity simulation software, IPG CarMaker.