Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) · 2003 · 10 citations · 1 references
EngineeringElectrical EngineeringSystems EngineeringAutonomous VehiclesHybrid Vehicle SystemsRoboticsControl Of Dynamical SystemsControl SystemsControl TheoryHybrid SystemsVehicle ControlVehicle Control SystemsHybrid ControlHybrid Control SystemsHybrid Dynamical Systems ControlHybrid Systems ControlObservabilitySensor ResolutionVehicle State Estimation
Hybrid dynamical systems (HDS), which contain both discrete logical 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. Experimental result is shown to demonstrate the usefulness of our idea.
1