비선형 궤도 차량에 대한 예견 제어기 설계에 관한 연구

Abstract

As the tracked vehicle’s running speed is increasing, undesirable vibration could become unbearable particularly in the case of field running. The preview controller is designed to improve the performance of tracked vehicle system. In this paper, a proper preview controller is proposed for nonlinear tracked vehicle systems. The LQ preview control, robust preview control and reference model tracking preview control algorithm are designed for the tracked vehicle system. Commercial program model including track and nonlinear components is used to verify the control algorithm.