Title
Adaptive planar curve tracking control with unknown curvature
Document Type
Conference Proceeding
Publication Date
7-28-2016
Abstract
We provide a new adaptive controller for curve tracking in the plane under unknown curvature. We prove a global asymptotic stability theorem that ensures tracking of the curve and convergence of the curvature estimate to the unknown curvature. Our curvature identification result is an improvement over the known adaptive curve tracking results, which do not ensure parameter identification, or which identify the control gain without identifying curvatures.
Publication Source (Journal or Book title)
Proceedings of the American Control Conference
First Page
1608
Last Page
1612
Recommended Citation
Malisoff, M., & Zhang, F. (2016). Adaptive planar curve tracking control with unknown curvature. Proceedings of the American Control Conference, 2016-July, 1608-1612. https://doi.org/10.1109/ACC.2016.7525146