Extended model reference adaptive control algorithm for the vehicle actuation time-latency

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• receiving, by a feedback controller and a reference system, an actuation command of an actuation system of a control subsystem of an autonomous driving vehicle (ADV);
• generating a predicted actuation output corresponding to the actuation command and a reference actuation output corresponding to the actuation command;
• determining a control error between a first actuation command output of an actuator of the control subsystem and the reference actuation output, and determining a predicted control error between the first actuation command output and the predicted actuation output;
• generating an adaptive gain that is based upon the control error and the predicted control error;
• outputting a second actuation command to actuate the control subsystem, wherein the second actuation command is based upon the first actuation command output and the adaptive gain;
• and
• generating a second predicted actuation output based at least in part upon a temporary actuation output and time-latency information for the temporary actuation output.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
• receiving, by a feedback controller and a reference system, an actuation command of an actuation system of a control subsystem of an autonomous driving vehicle (ADV);
• generating a predicted actuation output corresponding to the actuation command and a reference actuation output corresponding to the actuation command;
• determining a control error between a first actuation command output of an actuator of the control subsystem and the reference actuation output, and determining a predicted control error between the first actuation command output and the predicted actuation output;
• generating an adaptive gain that is based upon the control error and the predicted control error;
• outputting a second actuation command to actuate the control subsystem, wherein the second actuation command is based upon the first actuation command output and the adaptive gain;
• and
• generating a second predicted actuation output based at least in part upon a temporary actuation output and time-latency information for the temporary actuation output.