Dynamics & Design Conference
Online ISSN : 2424-2993
セッションID: 430
会議情報

極値探索による車両型ロボットのトラクション制御
佐野 暁大塚 祐子横山 誠
著者情報
会議録・要旨集 フリー

詳細
抄録

This paper presents a traction control strategy for a mobile robot comprising two modules: a normal vehicle with wheels and auxiliary mass module to control the vehicle dynamics by changing the center of gravity. For this strongly nonlinear plant, the authors have already proposed slip a control strategy applying input-output linearization together with integral sliding mode control to achieve robust performance in the presence of model uncertainties and disturbances. In this paper, a searching algorithm to provide the desirable reference slip to the slip controller is proposed based on the extremum seeking method.

著者関連情報
© 2016 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top