Maneuverability analysis of front drive type personal vehicle stavi using modeling error compensation system

Maruno Y., Dan Y., Zengin A. T., Okajima H., Matsunaga N.

7th IFAC Symposium on Advances in Automotive Control, AAC 2013, Tokyo, Japan, 4 - 07 September 2013, vol.7, pp.837-842 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 7
  • Doi Number: 10.3182/20130904-4-jp-2042.00025
  • City: Tokyo
  • Country: Japan
  • Page Numbers: pp.837-842
  • Keywords: Free caster, Front drive, Modeling error compensator, Over-steering, Personal vehicle, Phase-plane analysis
  • Istanbul Technical University Affiliated: No


Electric-powered personal vehicles have been used as a convenient transport device. Therefore, a front-drive-type personal vehicle STAVi, that is easy for elderly but also disabled persons, to climb on from a bed has been focused on. However, front-drive-type personal vehicles are difficult to operate because their over-steering characteristic is strong owing to free casters. If the vehicle can be driven by an easy joystick operation, it will be a comfortable function for all users. STAVi prototype had been developed for driving in hospitals with slow speed drive. However, we sometimes drive STAVi in many places with ordinary speed as a personal vehicle. For personal vehicle, it is well known that under-steer characteristic is required to drive even though the vehicle is front-drive-type. In this paper, we construct a control system for STAVi using a modeling error compensator with a nonlinear reference model to realize a comfortable under-steer characteristics. The advantage of proposed controller is discussed and it is clarified that the over-steering characteristic can be modified to be under-steering one. By using proposed method, the maneuverability can be improved for front-drive-type vehicle STAVi and its joystick operation is evaluated by phase-plane analysis.