Robust stabilization of running self-sustaining two-wheeled vehicle with varying speed and mass variations

Hiroshi Satoh, Toru Namerikawa

研究成果: Article査読

1 被引用数 (Scopus)

抄録

This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.

本文言語English
ページ(範囲)882-889
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
75
752
DOI
出版ステータスPublished - 2009 4月
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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