Iterative Learning Trajectory Tracking Control of an Autonomous Bicycle
摘要
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.