An Attitude Control Considering Sideslip Phenomenon Using DOB-Based LMPC-LQR for Four-Wheel Steering Vehicle

Hiromu Soubou, Takashi Ohhira, Akira Shimada

研究成果: Conference contribution

抜粋

This study presents an attitude control system for a four-wheel steering vehicle had a driving support system (DSS). Generally, the DSS is not a suitable system to ensure stability of the four-wheel vehicles when the vehicles drive some slippery roads such as a snowy road. Therefore, in this study, we propose the attitude control system for the four-wheel steering vehicle which can ensure the stability. In addition, the four-wheel vehicle as control target has a function that handles a steering system of front and rear, independently. To design this control system, we use a state expressed disturbance distributed observer(DOB), discrete-time LQR and linear model predictive control(LMPC). Finally, we present good validation result from a movement-control simulation of the four-wheel steering vehicle.

元の言語English
ホスト出版物のタイトル2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ1544-1550
ページ数7
ISBN(電子版)9784907764609
DOI
出版物ステータスPublished - 2018 10 15
イベント57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan
継続期間: 2018 9 112018 9 14

Other

Other57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
Japan
Nara
期間18/9/1118/9/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

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  • これを引用

    Soubou, H., Ohhira, T., & Shimada, A. (2018). An Attitude Control Considering Sideslip Phenomenon Using DOB-Based LMPC-LQR for Four-Wheel Steering Vehicle. : 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 (pp. 1544-1550). [8492534] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2018.8492534