抄録
In this paper, a method for stable path tracking of non-holonomic vehicles with time delays is proposed. Time-state control form, which is suitable to control non-holonomic systems, is adapted for vehicle control, but time delays have not been considered explicitly so far. This study deals with the time delays in time-state control form by transforming time delay factors from time delay into state delay. To deal with the time delay, the proposed method uses Smith predictor which is one of the typical compensator for time delay systems. To apply Smith predictor to time-state control form, the control plant is modified to achieve exponential tracking performance. By the proposed method, it is shown that stable path tracking is achieved under high gain control paprameters.
