走行速度を考慮した自律走行自転車の軌道追従安定化走行制御(機械力学,計測,自動制御)

概要

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Many researchers have focused attention on a stability analysis and a stabilization control of a bicycle as one of controlled objects, because the bicycle is an unstable and nonlinear vehicle. A steering wheel control is needed to stabilize the bicycle. Moreover, a velocity of the bicycle can be controlled. Thereby, it is expected that the change of the running velocity affects the stability of the bicycle. In this study, the stabilization and trajectory tracking control of the bicycle considering the running velocity is proposed in order to improve the stability and the tracking performance. The simulations are carried out to verify the performance of the control system and the effectiveness of the change of the running velocity. From the simulation results, it was confirmed that the tracking performance and the stability against the disturbances are improved.
社団法人日本機械学会の論文
2009-02-25