A Novel Dual Successive Projection-Based Model-Free Adaptive Control Method and Application to an Autonomous Car

被引：124
作者：
Liu, Shida [1 ,2 ]
Hou, Zhong-Sheng [2 ,3 ]
Tian, Taotao [4 ]
Deng, Zhidong [5 ]
Li, Zhenxuan [6 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China
[2] Beijing Jiaotong Univ, Sch Elect & Informat Engn, Adv Control Syst Lab, Beijing 100044, Peoples R China
[3] Qingdao Univ, Sch Automat Engn, Qingdao 266071, Shandong, Peoples R China
[4] Hangzhou Hikvis Digital Technol Co Ltd, Hangzhou 310053, Zhejiang, Peoples R China
[5] Tsinghua Univ, Dept Comp Sci, Beijing 100084, Peoples R China
[6] China Elect Standardizat Inst, Beijing 100176, Peoples R China
来源：
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS | 2019年 / 30卷 / 11期
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Autonomous automobiles; Automobiles; Control systems; Process control; Adaptation models; Mathematical model; Data models; Autonomous car; dual successive projection (DuSP); lateral path tracking control; model-free adaptive control (MFAC); DATA-DRIVEN CONTROL; LATERAL CONTROL; NONLINEAR-SYSTEMS; CONTROL DESIGN; IMPLEMENTATION; TRACKING;
D O I：
10.1109/TNNLS.2019.2892327
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a novel model-free adaptive control (MFAC) algorithm based on a dual successive projection (DuSP)-MFAC method is proposed, and it is analyzed using the introduced DuSP method and the symmetrically similar structures of the controller and its parameter estimator of MFAC. Then, the proposed DuSP-MFAC scheme is successfully implemented in an autonomous car "Ruilong" for the lateral tracking control problem via converting the trajectory tracking problem into a stabilization problem by using the proposed preview-deviation-yaw angle. This MFAC-based lateral tracking control method was tested and demonstrated satisfactory performance on real roads in Fengtai, Beijing, China, and through successful participation in the Chinese Smart Car Future Challenge Competition held in 2015 and 2016.
引用
收藏
页码：3444 / 3457
页数：14
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