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JRM Vol.23 No.3 pp. 338-349
doi: 10.20965/jrm.2011.p0338
(2011)

Paper:

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Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization Along Z Axis and About Roll and Pitch Axes

Yusuke Sugahara*1, Yusuke Ikeuchi*1, Ryo Suzuki*2,
Yasuhisa Hirata*1, Kazuhiro Kosuge*1, Yukio Noguchi*2,
Satoshi Kikuchi*3, and Yasuaki Kohama*4

*1Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan

*2Department of Industrial Management and Engineering, Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-8601, Japan

*3Department of Mechanical and Systems Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

*4New Industry Creation Hatchery Center, Tohoku University, 6-6-10 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan

Received:
October 1, 2010
Accepted:
February 1, 2011
Published:
June 20, 2011
Creative Commons License
Keywords:
Aero-Train, wing-in-ground effect, levitation control, aerial robotics and mechatronics
Abstract
The goal of this study is to develop levitation stabilization control for an aerodynamically levitated highspeed, high-efficiency train, “Aero-Train.” Levitation occurs due to the wing-in-ground effect acting on a U-shaped guideway. To achieve our goal, we developed a small experimental prototype of the wing-in-ground vehicle, its dynamic model and control for stabilization along the Z axis and about the roll and pitch axes using a linear quadratic regulator, as described in this paper. Control effectiveness is confirmed by experimental results.
Cite this article as:
Y. Sugahara, Y. Ikeuchi, R. Suzuki, Y. Hirata, K. Kosuge, Y. Noguchi, S. Kikuchi, and Y. Kohama, “Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization Along Z Axis and About Roll and Pitch Axes,” J. Robot. Mechatron., Vol.23 No.3, pp. 338-349, 2011.
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