Tracking Control by the Newton-Raphson Flow: Applications to Autonomous Vehicles

This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output prediction, and controller speedup. Early applications of the techni...

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Bibliographic Details
Published inarXiv.org
Main Authors Shivam, Shashwat, Buckley, Ian, Wardi, Yorai, Seatzu, Carla, Egerstedt, Magnus
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 06.03.2019
Subjects
Algorithms
Autonomous vehicles
Computer simulation
Control algorithms
Control theory
Dynamic models
Newton-Raphson method
Tracking control
Trajectory control
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Summary:This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output prediction, and controller speedup. Early applications of the technique, made to simple systems of an academic nature,were implemented by simple algorithms requiring modest computational efforts. In contrast, this paper tests it on commonly-used dynamic models to see if it can handle more complex control scenarios. Results are derived from simulations as well as a laboratory setting, and they indicate effective tracking convergence despite the simplicity of the control algorithm.
ISSN:2331-8422