Robust Stabilization of Running Self-Sustaining Two-Wheeled Vehicle with Varying Speed and Mass Variations(Mechanical Systems)
速度と質量の変動に対する自立走行二輪車のロバスト安定化(機械力学,計測,自動制御)

Hiroshi SATOH, Toru NAMERIKAWA
2009 TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C  
This paper deals with robust stabiHzation of rulmhlg se 匸 f . . susta { ning two . wheeled vehicle with varying ruuning speed and mass variations . Recer/tly, there have bccn a lo し ofresearch results abo し lt stabilization of tw ・ o − wheeled vehicle These rese 且 rches have achieved 亡he stab 且 e runlling on [ y by the steering control 、 However , an actual two − whee 五 ed vehicle is stabilized by not only the g . teering coIltrol , but the corltrQI of a vehicle ' s center of gravity . 、 Ve
more » ... gravity . 、 Ve have proposed the 9 . tabilization control n ユethod of 亡 w 〔 , − wheeled vehicle in the state of stillness , and have shown the effectiveness ufproposed apProach . In this research , we construct the co1 ] trol systeln for the running stabiHzation of t}1, ( 〕 . . whceled vehicle . ff. control problern isused to design the c 〔 introller t 〔 } achieve runninR stability even if the running speed and the mass of two − wheeled vehicle wo しLld change . The experimen しal resu [ ts show effectiveness of proposed apProach for robustness
doi:10.1299/kikaic.75.882 fatcat:ypa24ekuc5c6zkmnwxtrizpcu4