Skip to main content

Adaptive Path-Following Control for Ground Vehicles Using a Switching Non-Quadratic Lyapunov Function

by Xingyu Zhou, Zejiang Wang, Junmin Wang
Publication Type
Conference Paper
Book Title
2023 IEEE International Automated Vehicle Validation Conference (IAVVC)
Publication Date
Page Numbers
1 to 6
Publisher Location
New Jersey, United States of America
Conference Name
2023 IEEE International Automated Vehicle Validation Conference (IAVVC)
Conference Location
Austin, Texas, United States of America
Conference Sponsor
Conference Date

The application of adaptive control techniques in the development of control systems for intelligent vehicles, especially for ground vehicle path-following controllers, has gained popularity due to their ability to handle large-scale parametric uncertainties. However, the use of a standard quadratic Lyapunov function in existing adaptive control-based path-following controllers can lead to poor transient performance, such as slow convergence and/or large overshoot. To address this limitation, this study proposes the use of a switching non-quadratic Lyapunov function to design a model reference adaptive path-following controller that aims to provide superior transient performance. The stability and signal convergence of the closed-loop system are demonstrated through a Lyapunov-like analysis. Through dSPACE ASM simulation, the effectiveness of the proposed controller is illustrated, which confirms improved tracking performance over a baseline solution.