疑似線形表現に基づく予測ガバナの設計と自動走行システムへの応用

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  • Design of Prediction Governors Based on a Linear-like System Representation and Application to Automatic Driving Control

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<p>This paper focuses on a design problem of prediction governors which shape given predicted reference signals to minimize the influence of prediction errors on control systems. We first proposed a prediction governor design method which is based on a linear-like system representation and a linear matrix inequality approach. Then we applied a prediction governor designed by the proposed method to an automatic driving control problem. Through a numerical simulation, we verified the effectiveness of the prediction governor and its design method.</p>

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