An LPV approach to obstacle-sensitive trajectory Regulation

Mazen Farhood, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle's regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter. Copyright © 2009 by ASME.
Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages8
ISBN (Print)9780791848920
StatePublished - Jan 1 2010
Externally publishedYes


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