1133 速度と質量の変動に対する自立走行二輪車のロバスト走行安定化(交通機械の制御(1))

概要

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This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, some researches about stabilization of two-wheeled vehicle have been reported. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H_∞ mixed sensitivity problem is used to design the robust controller to achieve running stability even if the running speed changes and the mass of two-wheeled vehicle changes. The experimental results show the effectiveness of our proposed approach.
社団法人日本機械学会の論文
2007-08-08