An Approach to a Digital Adaptive Controller for guidance of Unmanned Vehicles - Comparison with Digitally-Translated Analog Counterparts

MARIO A. JORDÁN; JORGE L. BUSTAMANTE

León

Conferencia; 5th International Scientific Conference on Physics and Control; 2011

Universidad de León

This paper deals with the design of a digital adaptive control system for a class of complex dynamics. Though the approach is based on known speed-gradient techniques in continuous time domain, it is directly worked up in the discrete time to ensure the convexity conditions. The approach is compared with analog speed-gradient controllers which are translated directly to the digital time domain. The influence of noisy measures and modelling errors are tracked along with the analysis of stability and performance. A comparative case study concerning the guidance of unmanned vehicles for path tracking illustrates the features of the approaches in this application field.