2A1-C05 自立走行二輪車の速度変動に対するロバスト走行安定化(車輪移動ロボット・メカトロニクス)

概要

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This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed. 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 controller to achieve running stability even if the running speed changes. The experimental results show running stability even if the running speed changed.
一般社団法人日本機械学会の論文
2007-05-11