scholarly journals Stabilization Control of Inverted Two-Wheeled Luggage Transport Vehicle Using a Kalman Filter-Based Disturbance Observer

2021 ◽  
Vol 33 (3) ◽  
pp. 643-652
Author(s):  
Hironori Matsubara ◽  
◽  
Yuki Nagatsu ◽  
Hideki Hashimoto
Keyword(s):  
Kalman Filter ◽  
Disturbance Observer ◽  
Service Industry ◽  
High Mobility ◽  
Least Mean Square ◽  
Transport Costs ◽  
Turning Angle ◽  
Stabilization Control ◽  
Translational Movement ◽  
Transport Vehicle

In addition to the declining birthrate and aging population in Japan, there has been a recent decrease in its total population. This threatens to exacerbate a shortage in labor force, which could trigger an increase in the luggage transport costs of transportation companies or the service industry. The demand for inverted two-wheeled luggage transport vehicles has been increasing steadily owing to their high mobility, compactness, affordability, and pivotal turnability. However, owing to their statical instability, these vehicles are limited. Accordingly, stability can be improved in these systems by configuring a spreading system and applying a disturbance observer based on a Kalman filter. The application of a Kalman filter enables us to estimate the disturbance in which the error between the true and estimated values is the least mean square. Furthermore, we validated the efficiency of the proposed method via its translational movement, turning angle control, and load-loading/unloading experiments using various loads.

scholarly journals Possible Impact of Long and Heavy Vehicles in the United Kingdom—A Commodity Level Approach

2018 ◽  
Vol 10 (8) ◽  
pp. 2754
Author(s):  
Heikki Liimatainen ◽  
Phil Greening ◽  
Pratyush Dadhich ◽  
Anna Keyes
Keyword(s):  
United Kingdom ◽  
Co2 Emissions ◽  
Freight Transport ◽  
Traffic Volume ◽  
Heavy Vehicles ◽  
Transport Costs ◽  
Modal Shift ◽  
The United Kingdom ◽  
Road Freight ◽  
Transport Vehicle

The potential effects of implementing longer and heavier vehicles (LHVs) in road freight transport have been studied in various countries, nationally and internationally, in Europe. These studies have focused on the implementation of LHVs on certain types of commodities and the experience from countries like Finland and Sweden, which have a long tradition of using LHVs, and in which LHVs used for all types of commodities have not been widely utilised. This study aimed to assess the impacts of long and heavy vehicles on various commodities in the United Kingdom based on the Finnish experiences in order to estimate the possible savings in road freight transport vehicle kilometres, costs, and CO2 emissions in the United Kingdom if LHVs would be introduced and used similarly to in Finland in the transport of various commodities. The study shows that the savings of introducing longer and heavier vehicles in the United Kingdom would be 1.5–2.6 billion vehicle kms, £0.7–1.5 billion in transport costs, and 0.35–0.72 Mt in CO2 emissions. These findings are well in line with previous findings in other countries. The results confirm that considerable savings in traffic volume and emissions can be achieved and the savings are very likely to outweigh possible effects of modal shift from rail to road.

Control of a Buckled Beam Subjected to a Compressive Force

2001 ◽  
Author(s):  
Hiroshi Yabuno ◽  
Kazuya Ando ◽  
Nobuharu Aoshima
Keyword(s):  
Steady State ◽  
Disturbance Observer ◽  
Coulomb Friction ◽  
Control Method ◽  
Compressive Force ◽  
Restoring Force ◽  
Velocity Feedback ◽  
Stabilization Control ◽  
Buckled Beam ◽  
Position Feedback

Abstract In this paper, we deal with a stabilization control for the buckled beam subjected to a compressive force. It is easily predicted that by applying a restoring force to the beam (P control), which is proportional to the deflection, the critical compressive force for the buckling is increased. However it is theoretically and experimentally clarified in our former study that in the neighborhood of the critical point, the effect of Coulomb friction at the supporting points is relatively increased even if it is very slight. It follows that the beam cannot be stabilized to the trivial steady state only by using the position feedback control and also velocity feedback. In this paper, we propose a stabilization control method of the beam to the trivial steady state by the aid of disturbance observer. Furthermore, the validity of the theoretically proposed method is experimentally confirmed.

Application of Linear Observers to Estimate States of a Roll Simulator

2014 ◽  
Author(s):  
Scott B. Zagorski ◽  
Gary J. Heydinger ◽  
Dennis A. Guenther
Keyword(s):  
Nonlinear Dynamics ◽  
Experimental Data ◽  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Kalman Filters ◽  
Disturbance Observer ◽  
Gain Scheduling ◽  
System Parameters ◽  
Scheduling Scheme

In this research, a variety of Kalman Filters are implemented in an effort to estimate sled speed of a Roll Simulator. An Extended Kalman Filter (EKF) is incorporated to capture the nonlinear dynamics of the sled-platform assembly to estimate sled speed for the entire motion, as a linear Kalman Filter was found to be inadequate. When applied to experimental data, the EKF over-estimates sled speed, which is due to a disturbance force and/or uncertainty in system parameters. In combination with the disturbance observer, the Kalman Filter adequately estimates sled speed for experimental data. For lower speed/payload applications, a Kalman Filter using an accelerometer and measured drum speed is able to accurately track sled speed when a gain scheduling scheme is employed.

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