1A1-U06 Proposal of Maneuvering Support System for a Amphibian Rescue Vehicle : Influence on Operation Performance by the Propulsive Limit

Abstract

In this research, a maneuvering support system for an amphibian rescue vehicle is proposed by applying a nonlinear state feedback control law for the trajectory control of the vehicle. We consider that the vehicle should not drift sideways for a good driving performance. To derive a nonlinear state feedback control law, we define 'Maneuvering Trajectory' as a trajectory which is generated by the driver's maneuver and construct a Lyapunov-like function for the trajectory control system. Then feasibility of the proposed system has been verified through several numerical simulations. In this report, we consider the case that the vehicle has a limit of propulsive force and its influence on maneuverability. Furthermore, we investigate the characteristics of the maneuvering support system when the feedback gains of the nonlinear control law are changed.