An Approach to a Digital Adaptive Controller for guidance of Unmanned Vehicles - Comparison with Digitally-Translated Analog Counterparts

TL;DRAbstract

This paper deals with the design of a digital adaptive control system for a class of complex dynamics. Though the approach is based on known speedgradient techniques in continuous time domain, it is directly worked up in the discrete time to ensure the convexity conditions. The approach is compared with analog speed-gradient controllers which are translated directly to the digital time domain. The influence of noisy measures and modelling errors are tracked along with the analysis of stability and performance. A comparative case study concerning the guidance of unmanned vehicles for path tracking illustrates the features of the approaches in this application field.\end{abstract Keywords– Digital adaptive control systems, Nonlinear dynamics, noisy measures, modelling errors, stability, unmanned vehicles, path tracking.

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