Gaussian-Process-Based Adaptive Tracking Control With Dynamic Active Learning for Autonomous Ground Vehicles

Abstract

This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and longitudinal subsystems, which are augmented with online Gaussian processes (GPs) using measurement data. The estimated mean functions of the GPs are used to construct a feedback compensator, which, together with a linear parameter-varying (LPV) state feedback controller designed for the nominal system, gives the adaptive control structure. To assist exploration of the dynamics, the article proposes a new, dynamic active learning method to collect the most informative samples to accelerate the training process. To analyze the performance of the overall learning tool-chain provided controller, a novel iterative, counterexample-based algorithm is proposed for calculating the induced $\mathcal {L}_{2}$ gain between the reference trajectory and the tracking error. The analysis can be executed for a set of possible realizations of the to-be-controlled system, giving a robust performance certificate of the learning method under variation of the vehicle dynamics. The efficiency of the proposed control approach is shown on a high-fidelity physics simulator and in real experiments using a 1/10 scale F1TENTH electric car.