Title :
Hardware experiment of nonlinear receding horizon adaptive control
Author :
Ohtsuka, Toshiyuki ; Ohata, Kentaro
Author_Institution :
Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan
fDate :
6/21/1905 12:00:00 AM
Abstract :
A nonlinear adaptive control algorithm is designed for a two-wheeled car by combining algorithms of nonlinear receding horizon control and nonlinear moving horizon state estimation. The experimental results show that the proposed nonlinear receding horizon adaptive control algorithm can be implemented with a sampling frequency of 30 Hz and works satisfactorily
Keywords :
adaptive control; nonlinear control systems; state estimation; vehicles; hardware experiment; nonlinear adaptive control algorithm; nonlinear moving horizon state estimation; nonlinear receding horizon adaptive control; nonlinear receding horizon control; sampling frequency; two-wheeled car; Adaptive control; Algorithm design and analysis; Control systems; Hardware; Mechanical systems; Nonlinear control systems; Nonlinear systems; Performance analysis; Sampling methods; State estimation;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830100
