Adaptive Method to Trajectory Tracking for Lane Changing

In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.

Nonlinear Robust Adaptive Control Using Direct Adaptive Method

The problem of robust adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters and structure has been considered. By employing the direct adaptive method to a general nonlinear adaptive system, a robust adaptive controller is designed to complete the global asymptotically stability of the system states. Some simulations are provided to illustrate the effectiveness of the proposed method.