著者

梁 〓模 金子 哲也 北澤 章平 景山 一郎 松浦 譲

出版者

一般社団法人日本機械学会

雑誌

年次大会講演論文集 : JSME annual meeting

巻号頁・発行日

vol.2009, no.7, pp.197-198, 2009-09-12

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This paper proposes a steering control strategy for new transport system equipped with an all-wheel steering system to achieve zero off-tracking running. In this system, the center of each axle passes through the same locus, which is similar to the operation of trains. The control system is composed of two parts-the feedforward and feedback controllers. A sliding mode controller as a nonlinear robust control is applied and imparts sufficient robustness by correcting the steeringangle. This control system was validated by means of numerical simulations using a multi degree of freedom vehicle dynamics model.