Adaptive Trajectory Tracking for a Planar Two-Wheeled Vehicle with Positive Trail

Authors

Alen Turnwald, Steven Liu

Abstract

This paper proposes an adaptive trajectory tracking control for an autonomous planar two-wheeled vehicle subject to nonholonomic constraints. Furthermore, the vehicle model considers a so-called positive trail that provides self-alignment of the steering in many vehicle types, including bicycles. The dynamics of the system is described in a port-Hamiltonian form that is suitable for systematic synthesis of passivity-based controllers. This also enables an explicit description of the system dynamics including the nonholonomic constraints by an ODE. By a generalized canonical transformation, an error system is determined preserving the port-Hamiltonian structure. This reduces the tracking problem to a stabilization problem that is solved by a further transformation. The controller is designed for a structure preserving simplified model and applied to the original model handling the omitted effects due to the simplification as disturbance. Finally, an adaptive controller is applied that, in the port-Hamiltonian framework, guarantees the asymptotic tracking of a given trajectory despite large parameter uncertainties.

Citation

• Journal: 2018 IEEE Conference on Control Technology and Applications (CCTA)
• Year: 2018
• Volume:
• Issue:
• Pages: 1222–1227
• Publisher: IEEE
• DOI: 10.1109/ccta.2018.8511396

BibTeX

@inproceedings{Turnwald_2018,
  title={{Adaptive Trajectory Tracking for a Planar Two-Wheeled Vehicle with Positive Trail}},
  DOI={10.1109/ccta.2018.8511396},
  booktitle={{2018 IEEE Conference on Control Technology and Applications (CCTA)}},
  publisher={IEEE},
  author={Turnwald, Alen and Liu, Steven},
  year={2018},
  pages={1222--1227}
}

Download the bib file

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