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計測自動制御学会論文集
Vol. 50 (2014) No. 5 p. 432-440

記事言語:

http://doi.org/10.9746/sicetr.50.432

論文

In this study, we propose a control method for a four-wheeled vehicle with drifted motion. We deal with the four-wheeled vehicle model that includes the effect of load transfers for each wheel and nonlinear tire model. Nonlinear model predictive control is used to determine the optimal control inputs and C/GMRES algorithm is applied for solving the optimization problem with low computational burden. Experimental results of a path tracking control, in which a target path is a sharp curve, verify that the control of target path tracking for four-wheeled vehicle can be achieved via real-time optimization.

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