TY - GEN
T1 - Adaptive road-following preview control using radius of curvature data
AU - Sumer, E. Dogan
AU - Lu, Jianbo
AU - Filev, Dimitar P.
AU - Hoagg, Jesse B.
AU - Bernstein, Dennis S.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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U2 - 10.1109/acc.2010.5530886
DO - 10.1109/acc.2010.5530886
M3 - Conference contribution
AN - SCOPUS:77957813276
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 4806
EP - 4811
BT - Proceedings of the 2010 American Control Conference, ACC 2010
ER -