Design of an Adaptive Sampled-Data Controller for Complex Vehicle Dynamics - Stability Proof

MARIO A. JORDÁN; JORGE L. BUSTAMANTE; CARLOS E. BERGER; EMANUEL TRABES

Marina Bay Sand

Conferencia; 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014); 2013

IEEE Control Systems Society, IEEE Robotics and Automation Society y IEEE Systems, Man andCybernetics Society

TRABAJO EN REVISION PARA SER PRESENTADO EN ICARCV2014 -------------------------------------------------------------------------------------------------------------------- In this paper the design of a digital adaptive control algorithm for path tracking of vehicles in many degrees of freedom is presented. It is based on speed-gradient laws and sampled-data models constructed with numeric approximations. Contrary to earlier works with similar algorithms that demands the a-priori knowledge of the inertia matrix, this paper tackles this strong restriction by requiring only a lower bound of it. This modification let the controller be completely adapted to the unknown vehicle dynamics. A proof of stability is presented. The convergence of the tracking error paths, geometric as well as kinematics, towards a residual set including null errors is shown.