静止時における自立走行二輪車のモデリングとロバスト姿勢制御(機械力学,計測,自動制御)

概要

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Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center of gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self sustaining two-wheeled vehicle which is a two wheeled vehicle equipped with a cart system to move a center of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via //_∞ Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.
2006-07-25