Fault Tolerance of Independent Steering Vehicle with Traction/Braking Force Distribution

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  • 独立操舵車両の制駆動力配分と耐故障性(自動車・二輪車の運動と制御(1),OS2 交通・物流機械のダイナミクス(振動,制御を含む))

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In the present report, traction/braking force optimizations of independent four-wheel steering vehicles are introduced. The maximum value of the tire workloads are minimized by online execution of the golden section search method combined with the binary search method. Their convergences are guaranteed by the convexities of the optimization problems. While the independent steering aims at the improvement of maneuverability, numerical simulations have been proved the robustness for a single steering actuator failure. The compensation effects to the actuator fixation are developed by the state feedback to the active steering controller.

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