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• W4285178263 abstract "Adaptive control theory has ushered in a fruitful era for the research and development of intelligent ground vehicle transportation systems. Notably, owing to its intelligence of handling parametric uncertainties via online learning and adaptation, the adaptive control methodology has attracted a great deal of attention in tackling autonomous/automated vehicle control problems. In this paper, we aim to improve the existing adaptive-control-based path-following controllers from two aspects. First, a non-quadratic-Lyapunov-function-based model reference adaptive controller is synthesized to achieve enhanced <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink> <tex-math notation=LaTeX>$mathcal {L}^{mathbf {1+alpha }}$ </tex-math></inline-formula> tracking performance. Second, a <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink> <tex-math notation=LaTeX>$mathcal{C}^{ boldsymbol {infty }}$ </tex-math></inline-formula> -differentiable smooth parameter projection scheme is employed for preventing the disturbance-induced control parameter drift. The stability of the redesigned path-tracking adaptive controller is analyzed. Furthermore, validations and comparative studies are conducted via hardware-in-the-loop experiments." @default.
• W4285178263 created "2022-07-14" @default.
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• W4285178263 date "2022-11-01" @default.
• W4285178263 modified "2023-10-01" @default.
• W4285178263 title "Automated Vehicle Path Following: A Non-Quadratic-Lyapunov-Function-Based Model Reference Adaptive Control Approach With C^∞-Smooth Projection Modification" @default.
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• W4285178263 doi "https://doi.org/10.1109/tits.2022.3182928" @default.
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