Iterative learning trajectory tracking control of an autonomous bicycle
Paper in proceeding, 2024
An autonomous bicycle has been developed for repeatable active safety tests of Advanced Driver Assistance Systems (ADAS). For effective interaction with other test objects, precise bicycle trajectory tracking control is essential. The repetitive nature of these tests suggest an Iterative Learning Control (ILC) approach. In this paper, we present a design of an ILC controller tailored for the trajectory tracking problem of an autonomous bicycle. To illustrate the performance of the controller, simulations have been conducted.
Iterative learning control
Trajectory tracking
Motion control
Author
Yixiao Wang
Chalmers, Electrical Engineering, Systems and control
Fredrik Bruzelius
Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems
Jonas Sjöberg
Chalmers, Electrical Engineering, Systems and control
Lecture Notes in Mechanical Engineering
21954356 (ISSN) 21954364 (eISSN)
350-3569783031703911 (ISBN)
16th International Symposium on Advanced Vehicle Control, AVEC 2024
Milan, Italy,
Milan, Italy,
Self-driving bikes for more realistic development and testing of, in vehicle, systems for bike safety
VINNOVA (2020-05133), 2021-03-15 -- 2024-03-14.
Areas of Advance
Transport
Subject Categories
Vehicle Engineering
Robotics
Control Engineering
DOI
10.1007/978-3-031-70392-8_50