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

• Published in: arXiv.org
• Main Authors: Shivam, Shashwat, Buckley, Ian, Wardi, Yorai, Seatzu, Carla, Egerstedt, Magnus
• Format: Paper
• Language: English
• 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

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...