入出力線形化とインテグラルスライディングモード制御を応用した車両型ロボットの制御

抄録

This paper presents a vehicle velocity 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 propose a vehicle velocity control applying input-output linearization together with integral sliding mode control to achieve robust performance in the presence of model uncertainties and disturbances. In addition, the resulting control system is analyzed in terms of the modelling error with respect to ground condition.