Approach to model-following control system for farm vehicle (part 2) - design of control system and examination of its performance on movement simulation of the vehicle

摘要

In the model identified in Part 1, non-linearity and fluctuation of cornering force is managed as perturbation of cornering power that is a parameter with a bounded time-varying uncertainty. Design problem of model-following control system for the results of system identification in Part 1 is solved as the constantly scaled H control state-feedback problem. Examination of the control performance on the simulation suggested that the model-following control system is useful. The model-following control system makes likable changes of the vehicle dynamics and restraint of its fluctuation due to characteristic between tires and soil, possible. So, the model-following system and these approached methods are considered useful for improvement of handling and stability of a farm vehicle.