記号入出力型コントローラによる二輪走行車両のライン追従制御 [in Japanese] Line Following Control of Two Wheeled Vehicle Based on Symbolic Input and Output Controller [in Japanese]
Access this Article
Search this Article
Hybrid Dynamical Systems (HDS), which contain both discrete symbol and continuous signal, are attracting great attention in the field of system control. In this paper, a new symbol based control strategy for a line following control of a two wheeled vehicle is proposed. The vehicle is supposed to have a low-resolution sensor and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. The controllability and observability issues are investigated, and a concrete control policy based on the continuous state estimation is proposed. Some experimental results are shown to demonstrate the usefulness of our idea.
- Transactions of the Institute of Systems, Control and Information Engineers
Transactions of the Institute of Systems, Control and Information Engineers 15(5), 253-261, 2002-05-15
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)