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.