Real time control for 4-wheeled vehicles via algorithmic control incorporating computation time

Tomoaki Kobayashi, Junichi Maenishi, Joe Imae, Guisheng Zhai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider robustness for real-time control method, which is based on the algorithms of numerical solutions for optimal control problems, called algorithmic control. We improved the conventional algorithmic control technique for the numerical robustness via incorporating computation time. The proposed control technique is applied to a positioning control problem of four-wheeled vehicles. We deal with the case of disturbance or modeling errors exists. The effectiveness of the proposed method is demonstrated through some numerical simulation results.

Original languageEnglish
Title of host publication9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
DOIs
Publication statusPublished - 2006 Dec 1
Event9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 - Singapore, Singapore
Duration: 2006 Dec 52006 Dec 8

Publication series

Name9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Conference

Conference9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
CountrySingapore
CitySingapore
Period06/12/506/12/8

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Keywords

  • 4-wheeled vehicle
  • Input restrictions
  • Iterative solution
  • Real-time control

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

Cite this

Kobayashi, T., Maenishi, J., Imae, J., & Zhai, G. (2006). Real time control for 4-wheeled vehicles via algorithmic control incorporating computation time. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 [4150174] (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06). https://doi.org/10.1109/ICARCV.2006.345314