現代制御理論による農用車両の操向制御　（第３報）　車体屈折式車両の操向制御系におけるオブザーバの設計とその評価

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  • Steering Control System for Articulated Vehicle. (Part 3). Design and evaluation of observer for articulated vehicle.
  • ゲンダイ セイギョ リロン ニ ヨル ノウヨウ シャリョウ ノ ソウコウ セイ
  • Design and evaluation of observer for articulated vehicle
  • 車体屈折式車両の操向制御系におけるオブザーバの設計とその評価

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This is the final report of this research. The design of the observer, by which other state valuables are estimated from the displacement of the vehicle in y-direction and its articulated angle, and the characteristics of observer were examined. It became clear that an output error was influenced by the weight of Riccati equation regarding the steering system of the articulated vehicle. It also became clear that the full order state observer can estimate state valuables properly with data obtained by the numerical experiment and the actual steering test. The problems which arise when the linear multi-valuable control theory was applied were taken into consideration. This research work has been finalized by the discussion of the possibility of the application of modern control theory to the control of the articulated vehicle with an example of a rice planter.

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