A System Parameter-Free Adaptive Path Tracking Control Algorithm for Autonomous Mobility based on Input-Coupled Error Dynamic Model

Hanbyeol La; Junho Jeong; Kwangseok Oh

doi:10.22680/kasa2025.17.1.019

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2025 Vol.17, Issue 1 Preview Page Next Page

A System Parameter-Free Adaptive Path Tracking Control Algorithm for Autonomous Mobility based on Input-Coupled Error Dynamic Model 자율주행 모빌리티의 입력 결합 오차 동역학 모델 기반 시스템 파라미터 독립 적응형 경로 추종 제어 알고리즘

31 March 2025. pp. 19-24

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Abstract

This study describes a system parameter-free adaptive path tracking control algorithm for autonomous mobility based on input-coupled error dynamic model. Various model-based control algorithms for path tracking of autonomous mobility require relatively accurate mathematical model and system parameters. Due to the variability of mobility system parameters caused by environmental or system condition changes, accurate parameter derivation or real-time estimation algorithms are necessary to ensure effective control performance. In order to overcome the mentioned limitation, coupled dynamic model that consists of control errors and inputs has been designed and real-time coefficient estimation algorithm has been designed using recursive least squares with multiple forgetting. The coefficients in the coupled dynamic model is designed to be estimated by using control errors and inputs. The estimated coefficients are used to derive steering control inputs. The cost function has been designed using control errors and the Lyapunov direct method has been used to derive front and rear steering control inputs for path tracking. The proposed path tracking the proposed control algorithm can be used as a universal path tracking algorithm that does not need system parameters for various autonomous mobility platforms.

Keywords

Autonomous mobility(자율주행 모빌리티)

System parameter-free(시스템 파라미터 독립)

Steering control(조향 제어)

Coupled dynamic model(결합 동적 모델)

Path tracking(경로 추종)

References

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 17
No :1
Pages :19-24
Received Date : 2024-08-16
Revised Date : 2025-01-10
Accepted Date : 2025-01-13
DOI :https://doi.org/10.22680/kasa2025.17.1.019

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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