書誌事項
- タイトル別名
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- Robust path following control of a small model car with contact-type odometers based on nonlinear tire model
説明
One of the key factors affecting vehicle motion control is the nonlinearity of tire forces including coupling between longitudinal and lateral tire forces and saturation of the frictional force. In addition, uncertainties such as external disturbance and tire force modeling error affect state estimation accuracy. In this paper, we incorporate a nonlinear tire model in our previous method based on sliding mode control with repetitive numerical computation, in order to enhance the tracking performance in the nonlinear region of tire forces. To reduce the noise of velocity measurement of contact-type odometers, we apply an extended Luenberger type VSS observer which can cope with both nonlinearity and disturbance of the vehicle dynamics. The performance and computational effort of the proposed method are verified through numerical simulations and experiments using a small vehicle with an on-board embedded CPU.
収録刊行物
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- 日本機械学会論文集
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日本機械学会論文集 80 (813), DR0130-DR0130, 2014
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205516407040
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- NII論文ID
- 130004728616
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- ISSN
- 21879761
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可