Obstacle-sensitive trajectory regulation via gain scheduling and semidefinite programming

Mazen Farhood, Eric Feron

Research output: Contribution to journalArticlepeer-review

8 Citations (SciVal)


The regulation of vehicle trajectories in the vicinity of obstacles must focus on "critical outputs," which vary as a function of the vehicle's position relative to obstacles as exemplified by the task of parking a car. We present an application of linear parameter-varying techniques to address this problem. We design closed-loop stable, parameter-dependent controllers, whose strategy changes depending on the position of the vehicle in the obstacle environment. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is demonstrated on a three degrees-of-freedom helicopter. © 2012 IEEE.
Original languageEnglish (US)
Pages (from-to)1107-1115
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Issue number4
StatePublished - Jan 1 2012
Externally publishedYes


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