Adaptive road-following preview control using radius of curvature data

E. Dogan Sumer, Jianbo Lu, Dimitar P. Filev, Jesse B. Hoagg, Dennis S. Bernstein

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

We consider a tracking problem for a car moving at a constant speed on a piecewise-circular road with known radius-of-curvature. Retrospective-cost-based adaptive control is applied under various off-nominal conditions, including unknown bank and inclination angles. A preview estimate of the time-to-departure, based on radius-of-curvature information, is used to define a performance variable.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages4806-4811
Number of pages6
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

ASJC Scopus subject areas

  • Control and Systems Engineering

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