Iterative learning trajectory tracking control of an autonomous bicycle
Paper i 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
Författare
Yixiao Wang
Chalmers, Elektroteknik, System- och reglerteknik
Fredrik Bruzelius
Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system
Jonas Sjöberg
Chalmers, Elektroteknik, System- och reglerteknik
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,
Självkörande cyklar för mer realistisk urveckling och testning av system för cykelsäkerhet
VINNOVA (2020-05133), 2021-03-15 -- 2024-03-14.
Styrkeområden
Transport
Ämneskategorier
Farkostteknik
Robotteknik och automation
Reglerteknik
DOI
10.1007/978-3-031-70392-8_50