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Preview Control for Tracked Vehicle
The role of the suspension system in tracked vehicles cannot be overestimated because the driving and running conditions of such vehicles are very severe. It reduces the vibration and shock that are generated by road profile in running conditions. As the tracked vehicle¡¯s running speed increases, more undesired vibration could be generated by the road profile particularly in the case of field running. Because, excessive vibration can harm the operation ability of crewmen and stability of complex equipments, the maximum running speed is limited.

In this study, to improve the performance of the tracked vehicle system, we examined the feasibility of using the active preview control for the tracked vehicle¡¯s suspension system. We proposed a method to apply a linear optimal preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the trailing arm suspension system, we classified these as unknown dynamics and disturbances. We used the Time Delay Control(TDC) method to make sprung mass dynamics follow that of linear preview controlled tracked vehicle model. We have verified by computer simulation that the proposed method shows good robustness to some uncertainty in modeling even when the unsprung mass is assumed to be two times heavier than the model parameters. Therefore, we can expect that the proposed method can be used for active preview control of the tracked vehicle system.