Adaptive Phase Lead Compensation for Model Uncertainties Problem of Autonomous Land Vehicles in Irregular Milieus
DOI:
https://doi.org/10.48048/tis.2022.4496Keywords:
Model uncertainties, Adaptive control, Phase lead compensator, Autonomous Land VehiclesAbstract
In this research paper, digital and analog adaptive phase lead control schemes for model uncertainties problem are proposed to Autonomous Land Vehicles (ALV) in highly irregular environments. The developed compensators are used to improve control performances and maintain robustness against uncertainties and external disturbances. To consider real soil changes and irregularities, 2 approaches are addressed: The 1st approach is a digital phase lead controller synthesized to keep closed loop performances in spite of analog system uncertainties. The 2nd control strategy rests on adaptive analog compensator to reduce model uncertainties impact using programmable resistors. Both control approaches are theoretically detailed, and then implemented on a test bed to compare real time results in terms of accuracy and rapidity in the model uncertainties case.
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