2104 バックステッピング法を用いた車両の非線形運動統合制御(OS3-4 制御II,OS3 交通・物流システムのダイナミクスと制御,TRANSLOG 2006)

概要

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This paper proposes a new design method of nonlinear vehicle control system which integrates active four wheel steering and four wheel torque control using a backstepping method with use of stochastic evaluation method. The system robustness is characterized by the probability of instability and probabilities of violation of performance indexes. These probabilities are estimated by Monte Carlo Simulation. A stochastic cost function of design criteria is minimized by using a Genetic Algorithm to determine the optimal control gain. The results of stochastic robustness analysis and simulation show that the proposed control system provides good robustness, stability, and tracking performance.
一般社団法人日本機械学会の論文
2006-12-13