ヒダカ コウイチ   Hidaka Koichi
  日高 浩一
   所属   東京電機大学  工学部 電気電子工学科
   東京電機大学大学院  先端科学技術研究科 電気電子システム工学専攻
   東京電機大学大学院  工学研究科 電気電子工学専攻
   職種   教授
言語種別 英語
発行・発表の年月 2015/09
形態種別 国際会議論文
査読 査読有り
標題 Robust Visual feedback control design using driving data on straight and curved courses
執筆形態 単著
掲載誌名 2015 IEEE Multi-Conference on Systems and Control (MSC)
出版社・発行元 IEEE
巻・号・頁 pp.1398-1403
著者・共著者 Koichi Hidaka
概要 This paper presents a modeling approach to controlling a vehicle through visual feedback control as well as through H_infty control. Two models are designed using closed-loop identification. The usefulness of closed-loop subspace identification for the camera-equipped vehicle in this study is discussed. A robust controller is then designed on the basis of the constructed models. More specifically, a model error for each model is formulated for curved and straight paths using an H_infty control algorithm for the vehicle controller while remaining within a given error. A nominal plant is regarded as the model given by the data for the straight path. The model error is estimated as the difference in the parameters of the models given by the straight and curved paths.The validity of H_infty control is discussed using the model errors from simulation and experimental results.