Abstract
In order to reduce the risk of injuring an infant in a traffic accident, we have proposed the in-car crib with joint application of regular and inverted pendulum mechanisms. This paper is reporting performances on a two degrees of freedom control system for the mechanisms by the numerical simulation. First, the state equation is set and a sliding mode control technique is applied to the mechanisms. However, the resulting movement of Arm2 is not realistic, although the horizontal deceleration of the crib decreases to the reference approximately. Then, the trajectory of Arm2 is set, and the optimal control system is developed. The simulation result shows that the horizontal deceleration of the crib increases gradually and remains around the reference. In addition, the robustness for the disturbance in the optimal control law or the state equation is examined and confirmed.
