Patent ID: 11873053
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  A  G  Y | IPC B

Claim 1:
2. The control device for the mobile body according to claim 1,
wherein the external force rotational force estimation part is configured to obtain an estimation value of the external force rotational force by:
a process of obtaining a difference between the movement rotational force estimated by the movement rotational force estimation part and the rotational driving force estimated by the rotational driving force estimation part, or a value obtained by executing a low-pass characteristic filtering process on the difference, as a basic value of the external force rotational force; and
a dead zone process of setting the estimation value of the external force rotational force to zero when the basic value is a value within a predetermined dead zone and setting a value determined according to a deviation amount of the basic value as the estimation value of the external force rotational force when the basic value is a value deviating from the dead zone.