Recently, vibration control of a wheeled vehicle running over an irregular terrain has been studied. In order to increase the mobility of the vehicle and stability of circumstance sensor, it is very important to decrease the vertical, rolling and pitching vibration, which is caused by irregular terrain. Until now, however, almost all the studies have been carried out for the vertical vibration of the vehicle. On the other hand, the information of road surface obtained from the front of vehicle

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... an be detected on line, when the wheeled vehicle runs over the irregular terrain. By means of effctive utilization of front information, it is naturally expected that the better vibration control performance can be obtained. This paper proposes a vibration model for a four wheeled vehicle with actuator, which presents the displacement in vertical, rolling and pitching directions of the vehicle caused by irregular terrain. Further, vibration control of the four wheeled vehicle running over irregular terrain is considered from the general control point of view. A new vibration control method based on optimal preview servo system is suggested. By use of this method, the vibration in every direction is controlled, and vehicle position can be arbitrarily controlled at the same time. Efficiency of preview action toward the vibration control of the vehicle is also confirmed by means of computer simulation.