AsynCar, a Radio-Controlled Vehicle for Asynchronous Experiments: Implementation of an Event-Based Cruise Control

Sylvain Durand (1, 2) , Julien Minet (3) , Fermi Guerrero Castellanos (4) , Nicolas Marchand (5)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique
3 GIPSA-Services - GIPSA-Services
4 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]
5 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

The main contribution of this paper is to develop an experimental platform in order to test some event-based control strategies. Contrary to the time-triggered fashion which calculates the control signal at each sampling time, an event-driven controller updates the control signal only when required. This theoretically allows to reduce the computational cost. In this paper, we propose to firstly test an asynchronous cruise control mechanism. Some first results clearly show a noticeable reduction of the mean control computation cost, which is really encouraging for developing such a platform.

Domaines: Automatique / Robotique

Sylvain Durand, Julien Minet, Fermi Guerrero Castellanos, Nicolas Marchand. AsynCar, a Radio-Controlled Vehicle for Asynchronous Experiments: Implementation of an Event-Based Cruise Control. CCE 2011 - 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Oct 2011, Mérida City, Yucatan, Mexico. s.p. ⟨hal-00626001⟩