Indirect adaptive control of two wheeled vehicle by symbolic controller

Hybrid dynamical systems (HDS), which contain both discrete logical symbol and continuous signal, are attracting great attention in the field of system control. In this paper, we deal with the control problem in which the continuous plant is controlled by the discrete logic-based controller, while the control requirements are specified for continuous variables. A new symbol based indirect adaptive control strategy for a line following control of a two wheeled vehicle is proposed. The vehicle is supposed to have a low-resolution sensor and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. Firstly, the controllability and observability issues are investigated. Secondly, it is shown that some unknown parameters of the system can be estimated from symbolized input and output by making use of partial information on the system. Thirdly, an indirect adaptive control policy based on simultaneous estimation of continuous state and parameters is proposed. Some experimental results are also shown to demonstrate the usefulness of our idea.