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Learning control in spatial coordinates for the path-following of autonomous vehicles
Authors:Luca Consolini  Cristiano Maria Verrelli
Affiliation:1. Dipartimento di Ingegneria dell’Informazione, Università di Parma, Parco Area delle Scienze 181/A, 43124 Parma, Italy;2. Dipartimento di Ingegneria Elettronica, Università di Roma “Tor Vergata”, Via del Politecnico 1, 00133 Roma, Italy
Abstract:We prove the existence of a P-type (proportional-type) space-learning control, which, on the basis of a kinematic third order nonlinear model of an autonomous nonholonomic vehicle and by a proper choice of the proportional control gain, guarantees asymptotic tracking of planar curves whose uncertain curvature is LL-periodic in the curvilinear abscissa. The behavior of a human driver, who repetitively learns the correct action from the past experience in the space, is mathematically reproduced. A stability analysis is presented while simulation results demonstrate the effectiveness of the presented approach.
Keywords:Space-learning control   Repetitive learning   Autonomous vehicles   Path following
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