Title :
Adaptive road-following preview control using radius of curvature data
Author :
Sumer, Erol D. ; Jianbo Lu ; Filev, D.P. ; Hoagg, J.B. ; Bernstein, D.S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of Michigan, Ann Arbor, MI, USA
fDate :
June 30 2010-July 2 2010
Abstract :
We consider a tracking problem for a car moving at a constant speed on a piecewise-circular road with known radius-of-curvature. Retrospective-cost-based adaptive control is applied under various off-nominal conditions, including unknown bank and inclination angles. A preview estimate of the time-to-departure, based on radius-of-curvature information, is used to define a performance variable.
Keywords :
Markov processes; adaptive control; optimisation; parameter estimation; predictive control; road traffic; road vehicles; velocity control; bank angle; inclination angle; piecewise-circular road; preview control; radius-of-curvature data; retrospective-cost-based adaptive control; road-following control; time-to-departure estimation; Adaptive control; Automatic control; Computer crashes; Driver circuits; Feedback control; Friction; Optimal control; Programmable control; Road accidents; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530886
