Adaptive planar curve tracking control with unknown curvature
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
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