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adaptive_control_steerbywire

MRAC (Model Reference Adaptive Control)+ Input shaping to safely control Steer-By-Wire vehicles.

https://github.com/srivats2794/adaptive_control_steerbywire

Science Score: 44.0%

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Repository

MRAC (Model Reference Adaptive Control)+ Input shaping to safely control Steer-By-Wire vehicles.

Basic Info
  • Host: GitHub
  • Owner: srivats2794
  • License: mit
  • Language: MATLAB
  • Default Branch: main
  • Size: 1.67 MB
Statistics
  • Stars: 23
  • Watchers: 1
  • Forks: 4
  • Open Issues: 0
  • Releases: 0
Created about 5 years ago · Last pushed almost 4 years ago
Metadata Files
Readme License Citation

README.md

AdaptiveControlSteerByWire

MRAC (Model Reference Adaptive Control)+ Input shaping to safely control Steer-By-Wire vehicles.

Add 6DoFplantfunctions, classes and init_files folders to your Matlab Path

Run SbWAdaptiveControl file for simulation.

The timestep, road condition and operating/desired velocity can all be manipulated using the initfiles/simparams.m .

The classes are vehicle,simprops and inputshaper

vehicle class carries vehicle params and also contains functions that can initialize a desired linear model. Model 1 (using linmodchoice variable): y ydot psi psidot statespace. Model 2: ey eydot epsi epsidot statespace also known as error dynamics state space. Model 3: psidot and beta statespace also known as sideslip model.

The 6DoFplantfunctions folder contains all the files required to simulate the high DoF plant that the controller is tested against. It includes 6DoF chassis and pacjeka wheel-tire model. You can ask for next state, velocity states/states_dot and Forces as output.

Please go through the preprint.pdf file for theory. This is a confidential file and hence is not allowed to be distributed.

MPClinveh dynamics is based on forward propagation of the model type 1 mentioned above. MPCerrordynamics is based on forward propagation of the model type 2 from above.

Owner

  • Name: Srivatsan Srinivasan
  • Login: srivats2794
  • Kind: user
  • Location: Greenville, SC, USA
  • Company: Clemson University ICAR

I'm a PhD student working on the field of robotics and autonomous vehicles specializing in dynamics, controls and estimation.

Citation (CITATION.cff) 

# YAML 1.2
---
authors: 
  -
    affiliation: "Clemson University"
    family-names: Srinivasan
    given-names: Srivatsan
cff-version: "1.1.0"
date-released: 2021-06-08
message: "If you use this software, please cite it using these metadata."
title: "Adaptive and Reference Shaping Control for Steer-By-Wire Vehicles in High-Speed Maneuvers"
...

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