Artikel ; Online: Robust model-free adaptive iterative learning control for an autonomous bus trajectory tracking system.
2024 Band 107, Heft 2, Seite(n) 368504241249617
Abstract: A robust model-free adaptive iterative learning control (R-MFAILC) algorithm is proposed in this work to address the issue of laterally controlling an autonomous bus. First, according to the periodic repetitive working characteristics of autonomous buses, ...
Abstract | A robust model-free adaptive iterative learning control (R-MFAILC) algorithm is proposed in this work to address the issue of laterally controlling an autonomous bus. First, according to the periodic repetitive working characteristics of autonomous buses, a novel dynamic linearized method used in the iterative domain is utilized, and a time-varying data model with a pseudo gradient (PG) is given. Then, the R-MFAILC controller is designed with a proposed adaptive attenuation factor. The proposed algorithm's advantage lies in the R-MFAILC controller, which solely utilizes the input and output data of the regulated entity. Moreover, the R-MFAILC controller has strong robustness and can handle the nonlinear measurement disturbances of the system. In simulations based on the Truck-Sim simulation platform, the effectiveness of the proposed algorithm is verified. A rigorous mathematical analysis is employed to demonstrate the stability and convergence of the proposed algorithm. |
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Sprache | Englisch |
Erscheinungsdatum | 2024-05-24 |
Erscheinungsland | England |
Dokumenttyp | Journal Article |
ZDB-ID | 128412-5 |
ISSN | 2047-7163 ; 0036-8504 ; 0302-1785 |
ISSN (online) | 2047-7163 |
ISSN | 0036-8504 ; 0302-1785 |
DOI | 10.1177/00368504241249617 |
Datenquelle | MEDical Literature Analysis and Retrieval System OnLINE |
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