Analysis of time delays for time-state control form systems applied to vehicle motion control using visual feedback

In recent years, automatic running of vehicle type robots are studied actively. There are various kinds of methods: visual feedback is one of them. Issue of this system is that it includes time delays during signal transmission. Since time delays degrade motion performance of vehicle, it is necessary to consider it to recover the performance. Time state control form which we use in this paper is effective to path tracking, however, time delays for that form have not been considered yet. It is necessary to consider delays for stable motion control. In this paper, we analyze stability of vehicle motion in time state control form with time delays.