Enhancement of Posture Stability in Narrow Tilting Vehicles Under Disturbances

This study investigates the posture stability of a narrow tilting vehicle developed by our research group, with a specific focus on its response to external disturbances. The vehicle underwent testing on various road surfaces, including wavy, low-μ, obstacle, stepped, and cobblestone roads, as well as in crosswinds, to confirm its stability. The results revealed an issue with the vehicle turning towards the leeward side during crosswinds. To address this issue, the study estimated the yaw moment generated by crosswinds and proposed a control method to counteract it. Simulations and experiments confirmed the effectiveness of the proposed method in reducing the issue.