NDLI: Adaptive vehicle planar motion control with fast parameter estimation

Content Provider	IEEE Xplore Digital Library
Author	Xiaoyu Huang Junmin Wang
Copyright Year	2012
Description	Author affiliation: Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, 43210, USA (Xiaoyu Huang; Junmin Wang)
Abstract	This paper presents a new adaptive control scheme for vehicle planar motion control with fast parameter estimation in moderate maneuvers in real-time. The parameters to be estimated include vehicle mass and yaw moment of inertia, which are important to the control systems for lightweight vehicles (LWVs) whose mass and yaw moment of inertia values change substantially with payload variations. A traditional Lyapunov-type adaptive control design rarely provides the bonus of accurate estimation of the true vehicle parameter values due to insufficient excitation in normal/moderate driving maneuvers. In this paper, to circumvent the obstacle of low adaptation rate, the traditional update law is supplemented with a new adaptive compensator to achieve much faster parameter convergence. The new design preserves the tracking performance and poses no additional requirements on the driving maneuvers. Simulation results show that the proposed adaptive scheme is capable of constructing true values of vehicle mass and yaw moment of inertia in just a few seconds once the corresponding persistent excitation is satisfied.
Starting Page	5034
Ending Page	5039
File Size	675135
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6426997
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Parameter estimation Vehicle dynamics Adaptation models Turning Adaptive control Tires
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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