1. A Novel Dual Successive Projection-Based Model-Free Adaptive Control Method and Application to an Autonomous Car.
- Author
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Liu, Shida, Hou, Zhongsheng, Tian, Taotao, Deng, Zhidong, and Li, Zhenxuan
- Subjects
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ADAPTIVE control systems , *DRIVERLESS cars , *ARTIFICIAL satellite tracking - Abstract
In this paper, a novel model-free adaptive control (MFAC) algorithm based on a dual successive projection (DuSP)-MFAC method is proposed, and it is analyzed using the introduced DuSP method and the symmetrically similar structures of the controller and its parameter estimator of MFAC. Then, the proposed DuSP-MFAC scheme is successfully implemented in an autonomous car “Ruilong” for the lateral tracking control problem via converting the trajectory tracking problem into a stabilization problem by using the proposed preview-deviation-yaw angle. This MFAC-based lateral tracking control method was tested and demonstrated satisfactory performance on real roads in Fengtai, Beijing, China, and through successful participation in the Chinese Smart Car Future Challenge Competition held in 2015 and 2016. [ABSTRACT FROM AUTHOR]
- Published
- 2019
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