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arXiv · 2504.08190

Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version)

Daniel Maldonado Naranjo·Anuradha M. Annaswamy
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Abstract

The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with the underlying stability analysis guaranteeing closed-loop boundedness and tracking of a desired path. It is shown that a path constructed by waypoints and a minimum turn radius can be specified using a reference model which can be followed by the closed loop system. The control design utilizes the complex state-space representation as well as a PID controller for the nominal closed-loop. How the design can be modified to ensure path following even in the presence input constraints is also discussed. Simulation studies are carried out to complement the theoretical derivations.

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Daniel Maldonado Naranjo, Anuradha M. Annaswamy. 2025-04-11. Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version). https://doi.org/10.1109/lcsys.2025.3581869

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