四輪独立懸架式継手型モビリティのマイナーフィードバックを用いた安定化制御

抄録

This paper presents the stabilization of a four-wheeled vehicle that has independent suspensions and an universal joint. In the former control experiment, vibratory responses were observed mainly in the chassis and the vehicle was not stabilized. The reason is unmodeled friction effects in the actuators. It is suppressed by using minor feedback of proportional and derivative control. Implementation of the minor feedback takes two steps: converting control input from torque of the driving wheels into their angular acceleration, and tracking the wheel angular velocity to the desired value. The mathematical model is firstly derived and the controller is designed based on the model. The proposed control scheme is verified through numerical simulations.