Control of vehicle with power wheeled steerings using feedforward dynamics compensation

Shigeki Iida, Shin'ichi Yuta

研究成果: Paper

12 引用 (Scopus)

抜粋

The design of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle and controls both sides of the wheel angular velocities. Additionally, in order to confirm the effectiveness of the proposed control method, numerical simulation and experimental results are shown.

元の言語English
ページ2264-2269
ページ数6
出版物ステータスPublished - 1991 12 1
イベントProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
継続期間: 1991 10 281991 11 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
Kobe, Jpn
期間91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Iida, S., & Yuta, S. (1991). Control of vehicle with power wheeled steerings using feedforward dynamics compensation. 2264-2269. 論文発表場所 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .