抄録
Some experimental and theoretical investigations were carried out to stabilize the dynamic motions of a vehicle with independent rotating wheels by control of steering on wheels. Scale model (about 1/8) of independently rotating 4 wheels truck with drive motors was made. The wheels steering angle was controlled by actuator using a microcomputer with the information of lateral displacement of the truck. Equations of motion were derived and root locus was analyzed. With both experiments and theoretical investigation, it was made clear that the stabilization of a truck with independently rotating wheels is feasible by this method.
