TY - JOUR
T1 - Maneuverability improvement of front-drive personal welfare vehicle STAVi using a model error compensator
AU - Maruno, Yutaro
AU - Zengin, Aydin Tarik
AU - Okajima, Hiroshi
AU - Matsunaga, Nobutomo
AU - Nakamura, Norihito
PY - 2013
Y1 - 2013
N2 - Electric-powered personal vehicles have been used as a convenient transportation device. A front-drive-type personal vehicle STAVi, that is easy for elderly but also disabled persons, to climb on from a bed has been focused on. However, front-drive-type personal vehicles are difficult to operate because their over-steering characteristic is strong owing to free casters. If the vehicle can be driven by an easy joy-stick operation, it will be a comfortable function for all users. In previous studies, we proposed a simple modeling error compensator which achieves a desired driving characteristics using a simple reference model, and the effectiveness was evaluated by simulations. In this paper, we propose a control system for STAVi using a modeling error compensator with a non-linear reference model to realize a comfortable under-steering characteristics. At first, the advantage of proposed controller is summarized. The STAVi's over-steering characteristic is modified to be under-steering one by proposed controller. As an experimental result, the additional assistance is necessary for a beginner. The phase-lead compensator for beginners is designed to adjust the maneuverability depending on the skill level. The maneuverability is evaluated by driving experiments on the slope.
AB - Electric-powered personal vehicles have been used as a convenient transportation device. A front-drive-type personal vehicle STAVi, that is easy for elderly but also disabled persons, to climb on from a bed has been focused on. However, front-drive-type personal vehicles are difficult to operate because their over-steering characteristic is strong owing to free casters. If the vehicle can be driven by an easy joy-stick operation, it will be a comfortable function for all users. In previous studies, we proposed a simple modeling error compensator which achieves a desired driving characteristics using a simple reference model, and the effectiveness was evaluated by simulations. In this paper, we propose a control system for STAVi using a modeling error compensator with a non-linear reference model to realize a comfortable under-steering characteristics. At first, the advantage of proposed controller is summarized. The STAVi's over-steering characteristic is modified to be under-steering one by proposed controller. As an experimental result, the additional assistance is necessary for a beginner. The phase-lead compensator for beginners is designed to adjust the maneuverability depending on the skill level. The maneuverability is evaluated by driving experiments on the slope.
KW - Man-machine system
KW - Maneuverability
KW - Medical and welfare assistance
KW - Modeling error compensator
KW - Non-linear reference model
KW - Over-steering
KW - Personal vehicle
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=84892186477&partnerID=8YFLogxK
U2 - 10.1299/kikaic.79.4721
DO - 10.1299/kikaic.79.4721
M3 - Article
AN - SCOPUS:84892186477
SN - 0387-5024
VL - 79
SP - 4721
EP - 4733
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 808
ER -