| 摘要 |
PROBLEM TO BE SOLVED: To make control for suppressing an attitude variation of a wheel by a more simple model. SOLUTION: The independent two two-wheel models are assumed, a vertical vibration on a first virtual control point Za is suppressed by a control force of an actuator corresponding to one front wheel of the two front wheels, and a control force of the actuator corresponding to one rear wheel of the two rear wheels, and a vertical vibration on a second virtual control point Zb different from the first virtual control point is suppressed by a control force of the actuator corresponding to the other front wheel of the two front wheels, and a control force of the actuator corresponding to the other rear wheel of the two rear wheels. The attitude variation of the vehicle is suppressed thereby. COPYRIGHT: (C)2009,JPO&INPIT
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