Adaptive Path-Following Control for Ground Vehicles Using a Switching Non-Quadratic Lyapunov Function

Conference · Sun Oct 01 00:00:00 EDT 2023

DOI:https://doi.org/10.1109/IAVVC57316.2023.10328096· OSTI ID:2251571

Zhou, Xingyu ^[1]; Wang, Zejiang ^[2]; Wang, Junmin ^[1]

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1. The University of Texas at Austin
2. ORNL

The application of adaptive control techniques in the development of control systems for intelligent vehicles, especially for ground vehicle path-following controllers, has gained popularity due to their ability to handle large-scale parametric uncertainties. However, the use of a standard quadratic Lyapunov function in existing adaptive control-based path-following controllers can lead to poor transient performance, such as slow convergence and/or large overshoot. To address this limitation, this study proposes the use of a switching non-quadratic Lyapunov function to design a model reference adaptive path-following controller that aims to provide superior transient performance. The stability and signal convergence of the closed-loop system are demonstrated through a Lyapunov-like analysis. Through dSPACE ASM simulation, the effectiveness of the proposed controller is illustrated, which confirms improved tracking performance over a baseline solution.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: AC05-00OR22725
• OSTI ID: 2251571
• Country of Publication: United States
• Language: English