Adaptive Control for A Class of Nonholonomic Vehicle Systems

Abstract

This paper studies control for a class of vehicle systems. Different from the majority of the existing work, two adaptive control laws are proposed to tackle the feedback stability of the nonlinear vehicle dynamics under both position and velocity controls. The results of the paper show that the proposed adaptive control laws are capable of dealing with the nonlinear dynamics in the presence of unknown vehicle parameters in achieving the velocity and position control. In combination with the classic proportional and derivative control, the proposed adaptive control method mitigates parameter uncertainties and model nonlinearities. The control performance of the vehicle systems is illustrated by simulation studies.