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We provide a new adaptive controller for curve tracking in the plane under unknown curvature. We prove a global asymptotic stability theorem that ensures tracking of the curve and convergence of the curvature estimate to the unknown curvature. Our curvature identification result is an improvement over the known adaptive curve tracking results, which do not ensure parameter identification, or which...
We study adaptive control and parameter identification for robotic curve tracking under unknown control gains. We build adaptive controllers that identify the unknown control gains and stabilize equilibria corresponding to a fixed constant distance to the curve and zero bearing. Our strict Lyapunov function method allows us to prove robust performance under actuator errors in terms of integral input-to-state...
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