Moving body control system, moving body control method, and non-transitory computer readable medium storing control program

A moving body control method comprising the steps of:

• detecting a driving velocity of a driving device that drives a moving body;
• detecting posture information of the moving body;
• producing a first driving velocity command for the driving device, based on the detected posture information, and an entered posture information command;
• producing a second driving velocity command for the driving device, by adding the produced first driving velocity command, and the detected driving velocity;
• controlling the driving device, by producing a torque command for the driving device, based on the produced second driving velocity command, and the detected driving velocity;
• performing velocity control so that the detected driving velocity follows the produced second driving velocity command;
• and
• performing posture control so that the detected posture information follows the entered posture information command.

A non-transitory computer readable medium storing therein a control program that causes a computer to perform the steps of:

• producing a first driving velocity command for a driving device that drives a moving body, based on detected posture information of the moving body, and an entered posture information command;
• producing a second driving velocity command for the driving device, by adding the produced first driving velocity command, and a detected driving velocity of the driving device that drives the moving body;
• controlling the driving device, by producing a torque command for the driving device, based on the produced second driving velocity command, and the detected driving velocity;
• performing velocity control so that the detected driving velocity follows the produced second driving velocity command;
• and
• performing posture control so that the detected posture information follows the entered posture information command.