In this repository, we share an implementation of preview control.
For the details of the implementation and citation please refer to :
-
Self-scheduling robust preview controllers for path tracking and autonomous vehicles
@inproceedings{boyali2017self, <br> title={Self-scheduling robust preview controllers for path tracking and autonomous vehicles},<br> author={Boyali, Ali and John, Vijay and Lyu, Zheming and Swarn, Rathour and Mita, Seichi},<br> booktitle={2017 11th Asian Control Conference (ASCC)},<br> pages={1829--1834},<br> year={2017},<br> organization={IEEE}<br> }
The repository consists of four matlab script files.
- a file loads generic parameters for simulating the control
- a file that implements uncertain system for the LMI computations
- a post-visualizing simulation file that simulates the control performance
For computations first run a01_hinfwPoles_LMI_solution.m
. For plotting the results. run
a02_simulate_forrange_of_Vx.m
.
In the LMI solution script, we set number of preview points and the longitudinal speed range using:
np =50; % Number of Preview Points
VxBound=[5, 30]; % Polytope Lower and Upper Bounds
and compute the preview coefficients (feedforward) together with the feedback for the vehicle states. A set of figures are produced by the second script file.