Fixed-structure parameter-dependent state feedback controller: A scaled autonomous vehicle path-tracking application

Abstract

This paper introduces theoretical conditions for the computation of a novel type of state-feedback controller that makes use of Linear Parameter Varying approaches for synthesis. The novelty of this new State-Feedback controller lies on the fact that the controller has a fixed structure with constants matrix gains. However, the controller gains are affine on a parameter dependent basis function, which allows the controller to self-schedule according to real-time changes of the varying parameters. This type of controller is conceived with a focus on implementation, as in contrast with most other LPV approaches. The implementation of this Parameter-Dependent State-Feedback controller does not require any online interpolation or matrix inverse operations, independently of the number of varying parameters. The performance of the proposed approach is validated in a Scaled Autonomous Vehicle for steering control in a path tracking application.