Development of a vibration prevention controller for high speed mobile robots

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Based on the two wheels mobile model, we developed a vibration prevention controller for the body without using the tire deflection. To achieve the objective, we proposed a state observer using the measurements of the force added to the body, the bouncing acceleration and the pitching acceleration of the body, the bouncing acceleration of the tire and the stroke of the suspension. In the mobile systems using the developed controller, there exist the following good properties.(1) At the specified location on the body, the vibration prevention becomes best.(2) The best location where the vibration prevention becomes best can be moved easily without redesigning the other controller.