# Identification of Polytopic Models for a Linear Parameter-varying System Performed on a Vehicle

### Raluca Liacu, Dominique Beauvois, Emmanuel Godoy

#### Abstract

This paper deals with the parameter identification of continuous time polytopic models for a linear parameter-varying system (LPV). A continuous-time nonlinear identification approach is presented, a mix between a local approach and a global one is introduced in order to identify a LPV model for the lateral comportement of a vehicle. The proposed approach is based on the prediction error method for LTI systems, which is modified to take into account polytopic models and regularization terms. Using experimental data, different parameter-varying structures, explaining the lateral behavior of the vehicle, were identified by the proposed method considering the velocity as the scheduling parameter.

#### References

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#### Paper Citation

#### in Harvard Style

Liacu R., Beauvois D. and Godoy E. (2012). **Identification of Polytopic Models for a Linear Parameter-varying System Performed on a Vehicle** . In *Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,* ISBN 978-989-8565-21-1, pages 470-475. DOI: 10.5220/0004032504700475

#### in Bibtex Style

@conference{icinco12,

author={Raluca Liacu and Dominique Beauvois and Emmanuel Godoy},

title={Identification of Polytopic Models for a Linear Parameter-varying System Performed on a Vehicle},

booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},

year={2012},

pages={470-475},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0004032504700475},

isbn={978-989-8565-21-1},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,

TI - Identification of Polytopic Models for a Linear Parameter-varying System Performed on a Vehicle

SN - 978-989-8565-21-1

AU - Liacu R.

AU - Beauvois D.

AU - Godoy E.

PY - 2012

SP - 470

EP - 475

DO - 10.5220/0004032504700475