Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version)
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866912445656727552 |
|---|---|
| author | Naranjo, Daniel Maldonado Annaswamy, Anuradha M. |
| author_facet | Naranjo, Daniel Maldonado Annaswamy, Anuradha M. |
| contents | The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with the underlying stability analysis guaranteeing closed-loop boundedness and tracking of a desired path. It is shown that a path constructed by waypoints and a minimum turn radius can be specified using a reference model which can be followed by the closed loop system. The control design utilizes the complex state-space representation as well as a PID controller for the nominal closed-loop. How the design can be modified to ensure path following even in the presence input constraints is also discussed. Simulation studies are carried out to complement the theoretical derivations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_08190 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version) Naranjo, Daniel Maldonado Annaswamy, Anuradha M. Systems and Control The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with the underlying stability analysis guaranteeing closed-loop boundedness and tracking of a desired path. It is shown that a path constructed by waypoints and a minimum turn radius can be specified using a reference model which can be followed by the closed loop system. The control design utilizes the complex state-space representation as well as a PID controller for the nominal closed-loop. How the design can be modified to ensure path following even in the presence input constraints is also discussed. Simulation studies are carried out to complement the theoretical derivations. |
| title | Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version) |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2504.08190 |