Publication
Linear Quadratic zonotopic control of switched systems: application to autonomous vehicle path-tracking
Journal Article (2024)
Journal
IEEE Control Systems Letters
Pages
1895-1900
Volume
8
Doc link
https://doi.org/10.1109/LCSYS.2024.3416069
File
Abstract
This letter proposes a zonotopic approach for the state feedback control problem of a class of uncertain switched systems subject to unknown but bounded disturbances and measurement noises. The proposed approach is the zonotopic analogous case of the switched Linear Quadratic Gaussian (LQG) control, in which the feedback loop is closed using the optimal estimates of a Switched Zonotopic Kalman Filter (SZKF) leading to a Switched Linear Quadratic Zonotopic (SLQZ) control scheme. In this context, first, a SZKF with offline filter gains design is proposed so that the unmeasurable system states can be estimated. Then, to tackle the synthesis of the SZKF and the state feedback controller, separation principle is proved so that the computation of the optimal controller and estimator can be done separately by finding the solutions to a finite set of Linear Matrix Inequalities (LMIs). At last, a reference path tracking controller of the vehicle lateral dynamics is designed to demonstrate the validity and performance of the proposed method.
Categories
control system synthesis, control theory, linear quadratic control, optimal control, optimisation, transport control.
Author keywords
Switched system, optimal control, zonotope, autonomous vehicles, path tracking.
Scientific reference
S. Zhang, S. Ifqir and V. Puig. Linear Quadratic zonotopic control of switched systems: application to autonomous vehicle path-tracking. IEEE Control Systems Letters, 8: 1895-1900, 2024.
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