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Title: Adaptive Control of Autonomous Vehicles
Authors: ZHU, XUANZHI (朱軒志)
Department: Department of Electrical and Computer Engineering
Faculty: Faculty of Science and Technology
Issue Date: 2017
Citation: ZHU, X. Z. (2017). Adaptive Control of Autonomous Vehicles (Outstanding Academic Papers by Students (OAPS)). Retrieved from University of Macau, Outstanding Academic Papers by Students Repository.
Abstract: Autonomous vehicles belong to a class of systems whose dynamic characteristics are independent of time. Due to their nonlinear dynamics, classical theories that deal with linear systems are no longer applicable in the analysis or design. The specific autonomous vehicle considered in this work was an underactuated quadrotor with more degrees of freedom than the number of actuations. At the same time, the quadrotor was assumed to have an unknown mass and experience constant force disturbances. A model-reference adaptive control strategy was designed with an observer and controller to implement desired trajectory tracking behavior of the quadrotor. The overall stability of the motion was guaranteed with a Kalman-Bucy filter for the design of the state observer and Lyapunov-based backstepping techniques for the design of the adaptive state feedback controller.
Programme: Bachelor of Science in Electrical and Computer Engineering
Appears in Collections:FST OAPS 2017

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