Hideki Wada

Active suspension control scheme for vehicles without measurements of tire deflection

In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To achieve this end, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort becomes best can be moved by setting only one design parameter. Next, to force the real vehicle track the motion of the combined ideal vehicle, a robust tracking controller is proposed.

Development of a position control scheme for rotating sensor unit attached to in-pipe robot

In this article, we propose a position control scheme for the rotation axis of a rotating ultrasonic sensor unit with a position adjustment mechanism. The objective of the control is to adjust the position of the rotation axis of the ultrasonic sensor such that it can coincide with the center of a pipe. To realize the above objective, we provide a method to measure the vertical and horizontal positions of the rotation axis in a pipe. Using the measurements, we propose a position controller for the rotation axis. By carrying out experiments, we investigate the usefulness of the developed mechanism and the proposed position controller. As a result, it is shown that the proposed position control scheme ensures good performance.

Robust ride comfort control of vehicles without measurements of tire deflection

In this article, a robust ride comfort control scheme for vehicles is proposed in which measurements of the tire deflections are not required. The controller has the property that we can specify a location where the ride comfort will be best. To achieve this end, an estimator for the tire deflections and the road disturbances is proposed. Next, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort will be best can be moved by setting only one design parameter. Finally, a robust tracking controller is developed so that a real vehicle tracks the motion of the combined ideal vehicle.