TY - GEN
T1 - Output adaptive control of a skid steering autonomous vehicle
AU - Fuentes-Alvarez, Ruben
AU - Chairez, Isaac
AU - Adams, Kim
AU - Salazar, Sergio
AU - Lopez, Ricardo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - This work presents the design as well as the evaluation of an output adaptive controller which must induce the stabilization of the tracking error for a class of skid steered autonomous vehicle (SSAV). The control design includes a nonlinear transformation (diffeomorphism) using a simplified SSAV mathematical model. This diffeomorphism justifies the transformation of the control problem in the original coordinates to a suitable chain of integrator system (third-order). In this study, the available measurements are the position and orientation of the SSAV. The aforementioned condition, encourages the implementation of a modified super twisting algorithm (STA) which is applied as a recursive differentiator which may estimate the velocity and acceleration of the SSAV efficiently. Based on the estimated states, an adaptive controller provides the asymptotic stability of the tracking trajectories for the SSAV. Numerical evaluation comparing the proposed adaptive controller with a state feedback controller confirmed the design of the suggested control structure.
AB - This work presents the design as well as the evaluation of an output adaptive controller which must induce the stabilization of the tracking error for a class of skid steered autonomous vehicle (SSAV). The control design includes a nonlinear transformation (diffeomorphism) using a simplified SSAV mathematical model. This diffeomorphism justifies the transformation of the control problem in the original coordinates to a suitable chain of integrator system (third-order). In this study, the available measurements are the position and orientation of the SSAV. The aforementioned condition, encourages the implementation of a modified super twisting algorithm (STA) which is applied as a recursive differentiator which may estimate the velocity and acceleration of the SSAV efficiently. Based on the estimated states, an adaptive controller provides the asymptotic stability of the tracking trajectories for the SSAV. Numerical evaluation comparing the proposed adaptive controller with a state feedback controller confirmed the design of the suggested control structure.
KW - Adaptive control
KW - Skid steering autonomous vehicle
KW - Super twisting
UR - http://www.scopus.com/inward/record.url?scp=85075101209&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2019.8884581
DO - 10.1109/ICEEE.2019.8884581
M3 - Contribución a la conferencia
AN - SCOPUS:85075101209
T3 - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
BT - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
Y2 - 11 September 2019 through 13 September 2019
ER -