2219 確率的なロバスト性評価に基づく車両運動制御系の一設計手法 : 制御と構造の同時最適化

概要

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Stochastic Robustness Synthesis (SRS), a simple numerical technique for designing robust system is applied to the design of vehicle steering controller and suspension characteristics. The system robustness is described by the cost function that is the weighted quadratic sum of stochastic robustness metrics. These metrics - probability of instability, probability of violation of performance criteria - are estimated using Monte Carlo evaluation. The design parameters of the Four-Wheel Steering controller and the suspension are determined so as to minimize the cost function. Comparisons between conventional and optimized vehicle system indicate that the proposed method provides has good robust performance.
2003-12-08