#### 고속 궤도 차량의 강인 예견 제어Robust Preview Control of High Mobility Tracked Vehicle

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The role of the suspension system in tracked vehicles cannot be overestimated because the driving and running conditions of such vehicles are very severe. It reduces the vibration and shock that are generated by road profile in running conditions. As the tracked vehicle's running speed increases, undesired vibration could be intensified by the road profile particularly in the case of field nursling. Because excessive vibration can harm the operational ability of crewmen and stability of complex equipments, the maximum running speed is limited. In this study, we examined the feasibility of the preview control to improve the performance of the tracked vehicle system. We proposed a method to apply a robust $H_{\infty}$ preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the tailing arm suspension system we classified these as unknown dynamics and disturbances. To derive the robust $H_{\infty}$ preview control theory, we modified a robust $H_$ $\infty$control theory for linear discrete-time systems with norm bounded nonlinear uncertainties by augmenting previewed road profile signal. We have verified by computer simulation that the proposed method shows good robustness to modeling uncertainty including the case when the unsprung mass is assumed to be twice heavier than the model parameters.
Publisher
한국자동차공학회
Issue Date
2002
Language
KOR
Citation

한국자동차공학회 2002년 춘계학술대회, v.2, pp.868 - 875

URI
http://hdl.handle.net/10203/137686
Appears in Collection
ME-Conference Papers(학술회의논문)ME-Conference Papers(학술회의논문)
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