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An Approach to a Digital Adaptive Controller for guidance of Unmanned Vehicles - Comparison with Digitally-Translated Analog Counterparts

Jorge Luis Bustamante
This paper deals with the design of a digital adaptive control system for a class of complex dynamics. Though the approach is based on known speed-gradient techniques in continuous time domain, it is directly worked up in the discrete time to ensure the convexity conditions. The approach is compared with analog speed-gradient controllers which are translated directly to the digital time domain. The influence of noisy measures and modelling errors are tracked along with the analysis of stability and performance. A comparative case study concerning the guidance of unmanned vehicles for path tracking illustrates the features of the approaches in this application field.
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