2009 Fiscal Year Final Research Report
Vehicle Position and Attitude Control By State Dependent Riccati Equation with Consideration for Skidding
| Project/Area Number |
19760292
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Kushiro National College of Technology |
|---|
Principal Investigator |
IKEDA Yuichi Kushiro National College of Technology, 工学部, 助教 (80435396)
|
|---|
| Project Period (FY) |
2007 – 2009
|
| Keywords | 制御工学 / 機械力学・制御 / 非線形制御 / 車両 / 状態依存型リカッチ方程式 |
|---|
| Research Abstract |
In this research, we consider the integrated control system design of vehicle with consideration for skidding and nonlinearity of the vehicle motion and tire force, and propose active steering control, model matching control and sliding mode control method based on state dependent Riccati equation that is one of the real time control method for nonlinear system. The effectiveness of proposed control method is verified by numerical simulations.
|
