IROS 2015 Paper Abstract


Paper ThAP.2

Mizutani, Naoto (Mie University), Matsui, HIrokazu (Mie university), Yano, Ken'ichi (Mie University), Takahashi, Toshimichi (MEIDENSHA CORPORATION)

Vehicle Speed Control by a Robotic Driver Using an Controller Considering Parametric Variations of a Driver Model

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 08:45−09:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on May 25, 2019

Keywords Motion Control, Motion and Trajectory Generation, Humanoid Robots


Robotic drivers are used in vehicle performance tests such as fuel consumption. The test vehicle is driven on the dynamometer for driving test cycles with a defined time and speed. To compare fuel consumption of various vehicles appropriately, better control performance is necessary to maintain the target speed. However, it is difficult to realize better control performance because a vehicle is a controlled system that has a dead time and a large model error. In this paper, we designed a control system that realizes better control performance for the controlled system with a dead time and a large model error. First, we built the driver model from the vehicle characteristics. We then designed a control system that permits the modeling error. The speed control performance of the proposed control system was confirmed by vehicle running tests with robotic driver.



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