バイク型ロボットの可変構造状態推定器設計

抄録

This paper presents a variable structure observer for a robotic mini-motorcycle. In general, important forces such as self-aligning torque and side force acting on a motorcycle highly depend on the properties of tires. However, it is not easy to obtain the parameter values to show the properties, and thus there is much uncertainty in the mathematical model for observer design. In this paper, therefore, a model including the parameter uncertainty is introduced, and a robust observer is designed from a view point of the so called matching condition with respect to the uncertainty. It is shown that the proposed controller achieves robust performance in the presence of the perturbation.