Abstract
Constrained operations for autonomous vehicles have been extensively studied in the literature over recent years. However, to the best of the authors' knowledge, all of the existing works address only constant or time-varying constraint functions. In this work, we study path-dependent constraint requirements, which explicitly depend on the path parameter, instead of depending on the time variable directly. This formulation of constraints is more practical in reality, where the constraint requirements are often shaped by the environment boundaries. From the system users' perspectives, it is also much easier to define constraint functions based on the path parameter. A modified version of the universal barrier function is used in the analysis of path-dependent constraint requirements. Furthermore, system unknowns and uncertainties are taken into considerations when designing the adaptive control algorithm. A simulation study further demonstrates the efficacy of the proposed scheme.
Original language | English |
---|---|
Title of host publication | 60th IEEE Conference on Decision and Control, CDC 2021 |
Pages | 5753-5758 |
Number of pages | 6 |
ISBN (Electronic) | 9781665436595 |
DOIs | |
State | Published - 2021 |
Event | 60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: Dec 13 2021 → Dec 17 2021 |
Publication series
Name | Proceedings of the IEEE Conference on Decision and Control |
---|---|
Volume | 2021-December |
ISSN (Print) | 0743-1546 |
ISSN (Electronic) | 2576-2370 |
Conference
Conference | 60th IEEE Conference on Decision and Control, CDC 2021 |
---|---|
Country/Territory | United States |
City | Austin |
Period | 12/13/21 → 12/17/21 |
Bibliographical note
Publisher Copyright:© 2021 IEEE.
Funding
The work of Xu Jin was in part supported by NASA Kentucky under NASA award No: 80NSSC20M0047. The work of Shi-Lu Dai and Jianjun Liang was supported by the Key-Area Research and Development Program of Guangdong Province under Grant 2020B1111010002, in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2021A1515012004, in part by the Guangdong Marine Economic Development Project under Grant GDNRC [2020]018, and in part by the Foshan Science and Technology Innovation Team Special Project under Grant 2018IT100322.
Funders | Funder number |
---|---|
Foshan Science and Technology Innovation Team Special Project | 2018IT100322 |
Basic and Applied Basic Research Foundation of Guangdong Province | 2021A1515012004 |
Guangdong Marine Economic Development Project | GDNRC [2020]018 |
National Aeronautics and Space Administration | 80NSSC20M0047 |
Kentucky Space Grant Consortium | |
Special Project for Research and Development in Key areas of Guangdong Province | 2020B1111010002 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization