走行速度を考慮した自律走行自転車の軌道追従安定化走行制御(機械力学,計測,自動制御)

• 佐口 太一

  慶應義塾大学大学院理工学研究科

• 高橋 正樹

  慶應義塾大学理工学部

• 吉田 和夫

  慶應義塾大学理工学部

書誌事項

タイトル別名

• Stable Running Control of Autonomous Bicycle Robot for Trajectory Tracking Considering the Running Velocity(Mechanical Systems)
• 走行速度を考慮した自律走行自転車の軌道追従安定化走行制御
• ソウコウ ソクド オ コウリョ シタ ジリツ ソウコウ ジテンシャ ノ キドウ ツイジュウ アンテイカ ソウコウ セイギョ

抄録

Many researchers have focused attention on a stability analysis and a stabilization control of a bicycle as one of controlled objects, because the bicycle is an unstable and nonlinear vehicle. A steering wheel control is needed to stabilize the bicycle. Moreover, a velocity of the bicycle can be controlled. Thereby, it is expected that the change of the running velocity affects the stability of the bicycle. In this study, the stabilization and trajectory tracking control of the bicycle considering the running velocity is proposed in order to improve the stability and the tracking performance. The simulations are carried out to verify the performance of the control system and the effectiveness of the change of the running velocity. From the simulation results, it was confirmed that the tracking performance and the stability against the disturbances are improved.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 75 (750), 397-403, 2009

  一般社団法人 日本機械学会

キーワード

• Bicycle
• Modeling
• Moving Robot
• Motion Control
• Optimal Control
• Handle Control

詳細情報

• CRID: 1390001206386282624
• NII論文ID: 110007113669
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.75.397
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 10189149
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10189149
• Web Site: https://www.jstage.jst.go.jp/article/kikaic1979/75/750/75_KJ00005360506/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可