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We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike...
This paper presents a motion control method of 6WD/6WS (6-wheel-drive and 6-wheel-steering) vehicle using optimum tire force distribution method. When we make used of independent driving and steering system, the motion control performance of the 6WD/6WS vehicle can be improved. For example, vehicle's maneuverability is more improved at low speed and vehicle's stability is also improved at high speed...
In recent years, the demand for safer vehicles has increased. According to traffic accident reports prepared by the Metropolitan Police Department in Japan, almost all traffic accidents are caused by human errors such as driver negligence or operational mistakes. Therefore, future technologies need to be able to precisely detect driver's mistakes and adopt active control in order to increase vehicle...
These days, electric vehicles are developing rapidly. Electric vehicles are expected to be alternative to the conventional gasoline engine vehicles and many researchers have studied motion control of electric vehicle. In this paper, to assist the vehicle driver using an accelerator pedal and a steering wheel is considered. In addition to steer-by-wire system, haptic pedal system which uses a motor...
This paper presents an adaptive nonlinear control scheme aimed at the improvement of the handling properties of vehicles. The control inputs for steering intervention are the steering angle and wheel torque for each wheel, i.e., two control inputs for each wheel. The control laws are obtained from a nonlinear 7-degree-of-freedom (DOF) vehicle model. A main loop and eight cascade loops are the basic...
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation...
The traction control is a widely used control system to increase stability and safety of four wheel vehicles. Automatic stability control is used in the BMW K1200R motorcycle and in motoGP competition, but not in other motorcycles. This paper presents an algorithm and a low cost real time hardware implementation for motocross and supermotard motorcycles. A prototype has been developed, applied on...
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