Real Time Control for 4-wheeled Vehicles via Algorithmic Control Incorporating Computation Time

In this paper, we consider robustness for real-time control method, which is based on the algorithms of numerical solutions for optimal control problems, called algorithmic control. We improved the conventional algorithmic control technique for the numerical robustness via incorporating computation time. The proposed control technique is applied to a positioning control problem of four-wheeled vehicles. We deal with the case of disturbance or modeling errors exists. The effectiveness of the proposed method is demonstrated through some numerical simulation results