Digital Library of Zielona Góra contains 9 387 digital objects
Object
Title: An optimal control method for trajectory tracking error detection of autonomous vehicles
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
This paper presents a trajectory tracking error detection method for autonomous vehicles (AVs) via an optimal control scheme, where two online learning algorithms are designed: (i) an adaptive learning algorithm (ALA) and (ii) a finite-time adaptive learning algorithm (FTALA). ; We first construct an error dynamic system by combining the kinematic equation of AVs and an ideal tracking trajectory. To realize the adaptive optimal control for AVs, the ALA is designed, which provides us with an online solution by resolving the derived Hamilton-Jacobi-Bellman (HJB) equation. Then, the FTALA is presented, which further relaxes the requirement of the system dynamics, i.e., the system drift is not required. The adaptive critic and control action in both online learning algorithms continuously and simultaneously interact, eliminating the need for iterative steps. ; This approach also avoids the use of an actor neural network (NN) and an initial stabilizing control policy. Moreover, the finite-time convergence can be ensured via adopting a sliding mode technique in the FTALA. Finally, both online learning algorithms are applied to control AVs, and the simulations show their effectiveness and practicality feasibility. The FTALA reduces the time-accumulated tracking error and the cumulative control effort by about 39% and 57% in lane-keeping, and by about 38% and 57% in the S-curve, respectively.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 35, number 4 (2025) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2025)
Last modified:
Mar 30, 2026
In our library since:
Mar 30, 2026
Number of object content hits:
3
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/105971
Show description in RDF format:
Show description in OAI-PMH format:
-
-
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 1 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 2 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 3 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 4 (2025)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
| Edition name | Date |
|---|---|
| An optimal control method for trajectory tracking error detection of autonomous vehicles | Mar 30, 2026 |
Objects Similar
Yan, Fei Dridi, Mahjoub El Moudni, Abdellah Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Talarczyk, Tomasz Kitowski, Zygmunt - ed. Piskur, Paweł - ed. Hożyń , Stanisław - ed.
Haber, Robert Bars, Ruth Lengyel, Orsolya Kowalczuk, Zdzisław - red.
Bartoszewicz, Andrzej Leśniewski, Piotr Korbicz, Józef (1951- ) - red. Kowal, Marek - red.
Hendzel, Zenon Penar, Paweł Jurczak, Paweł - red.
Boldrini, Jose L. Costa, Michel I.S. Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Horla, Dariusz Korbicz, Józef (1951- ) - ed.
Di Trapani, Lyall Jonathan Inanc, Tamer Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
