日本機械学会論文集 C編
Online ISSN : 1884-8354
Print ISSN : 0387-5024
車体屈折式操向車両の非線形直線経路追従制御(機械力学,計測,自動制御)
城間 直司石川 哲史井上 康介福岡 泰宏森 善一
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2010 年 76 巻 763 号 p. 619-626

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Autonomous control of an articulated steering type vehicle such as a wheel loader, which is usually used at surface mining fields to load mineral resources and rocks, is highly expected for operation cost reduction. A wheel loader is one of heavy machines which is also used for snow removing and/or loading operation at construction fields because of its high mobility. Its steering system is articulated steering and the rear wheels follow tracks where the front wheels have traveled. We have introduced a new virtual velocity constraint of the vehicle and formulated nonlinear state equations using two velocity constraints. A nonlinear state-feedback controller is designed using exact linearization. Simulation and experimental results show that an articulated steering type vehicle can follow a straight line with the proposed feedback control method.

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© 2010 社団法人日本機械学会
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