Development of a vibration prevention controller for high speed mobile robots

基于两轮运动模型，研制了一种不利用轮胎偏转的车身防振控制器。为了实现这一目标，我们提出了一种状态观测器，该观测器利用对车身的附加力、车身的弹跳加速度和俯仰加速度、轮胎的弹跳加速度和悬架的行程的测量。在使用所开发的控制器的移动系统中，具有以下良好的特性：(1)在车身上的指定位置，防振效果最佳。(2)无需重新设计其他控制器，即可方便地移动防振效果最佳的最佳位置。

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.