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Advances in Intelligent Vehicles by Yaobin Chen and Lingxi Li (Auth.)

By Yaobin Chen and Lingxi Li (Auth.)

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Thus, the inputs obtained by feedback control became approximately zero. The main element of sw is dynamics canceling inputs, whereas the main element of f is feedforward inputs by the desired acceleration trajectory. Ideal control inputs realized both the feedforward inputs with desired acceleration trajectory and the dynamics canceling inputs. 18. The acceleration of the cart changes in positive and negative values. However, the total acceleration acting on the driver is always positive. Therefore, the driver does not feel a vibration phenomenon during acceleration.

92) t/N fà Here, q_ w is the target value of the angular velocity of the tire wheel as requested by the driver. à In total, there are five conditions for variables. 92), the number of condition equations that must be satisfied is three. Since the three independent elements of the à trajectory of q_ w satisfy all of the constraint conditions, n is equal to 3. 98) Here, Eq. 104) In order to satisfy Eq. 87), the necessary and sufficient condition is that Eq. 109) This equation indicates that bi (i ¼ 1, 2, 3) can be calculated and that the desired trajectory of variables can be obtained if ai (i ¼ 1, 2, 3) have been determined.

Salerno, J. Angeles, A new family of two-wheeled mobile robots: modeling and controllability, IEEE Transaction on Robotics 23 (1) (2007) 169e173. [5] F. Grasser, A. D’Arrigo, S. Colombi, A. Rufer, Joe: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics 49 (1) (2002) 107e114. C. S. C. Huang, Adaptive robust self-balancing and steering of a two-wheeled human transportation vehicle, Journal of Intelligent and Robotic Systems: Theory and Applications 62 (1) (2011) 103e123. [7] K.

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