An autonomous bicycle has been developed for repeatable active safety tests of Advanced Driver Assistance Systems (ADAS). For effective interaction with other test objects, precise bicycle trajectory tracking control is essential. The repetitive nature of these tests suggest an Iterative Learning Control (ILC) approach.
In this paper, we present a design of an ILC controller tailored for the trajectory tracking problem of an autonomous bicycle. To illustrate the performance of the controller, simulations have been conducted.
Iterative Learning Trajectory Tracking Control of an Autonomous Bicycle
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
2024-10-04
7 pages
Article/Chapter (Book)
Electronic Resource
English