| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To enhance stability and robust characteristics of driving and attitude control by applying a sliding mode control to driving and attitude control of a vehicle using an attitude control of an inverted pendulum, and setting a sliding plane introducing a driving state and a car body attitude to target states so as to stably and smoothly approach to the target state, and to securely and comfortably drive in various driving conditions. <P>SOLUTION: The vehicle includes: a car body; a drive wheel 12 turnably mounted on the car body; and a vehicle control device for controlling the attitude of the car body by controlling a driving torque given to the drive wheel 12. The vehicle control device determines the target state of the drive wheel or the car body based on the amount of steering operation of a steering device, determines the sliding plane based on the determined target state, and determines the drive torque based on positional relations among an actual state, the target state, and the sliding plane. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
