We study adaptive control and parameter identification for robotic curve tracking under unknown control gains. We build adaptive controllers that identify the unknown control gains and stabilize equilibria corresponding to a fixed constant distance to the curve and zero bearing. Our strict Lyapunov function method allows us to prove robust performance under actuator errors in terms of integral input-to-state stability under a bound on the disturbance that maintains forward invariance of a class of invariant hexagons. This extends existing curve tracking results to allow controller uncertainty and parameter identification. We demonstrate our work in simulations. © 2012 AACC American Automatic Control Council).
Publication Source (Journal or Book title)
Proceedings of the American Control Conference
Malisoff, M., & Zhang, F. (2012). Adaptive controllers and robustness analysis for curve tracking with unknown control gains. Proceedings of the American Control Conference, 344-349. https://doi.org/10.1109/acc.2012.6315418