• 제어로봇시스템학회논문지
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• 제18권11호
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• pp.1051-1058
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• 2012

The unified lateral control algorithm for automatic valet parking for various types of vehicles is presented and its feasibility is shown experimentally via field tests for the given parking scenario. First, a trajectory generation algorithm for forward driving and backward multi-step parking maneuvers is developed. Then, with consideration of different types of vehicles and operating conditions, a kinematic vehicle model is used and validated using field test data. Using the nonlinear vehicle model, the lateral controller is designed based on dynamic surface control. Finally the proposed lateral control law is validated via hardware-in-the-loop simulations for different types of vehicles and experimentally using a test vehicle through field tests.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.609-618
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• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.621-630
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• 2006

The T-50 advanced trainer aircraft combines advanced aerodynamic features and a fly-by-wire flight control system in order to produce a stability and highly maneuverability. The flight control system both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 employs the RSS concept in order to improve the aerodynamic performance in longitudinal axis and the longitudinal control laws employ the dynamic inversion with proportional-plus-integral control method. And, lateral-directional control laws employ the blended roll system both beta-betadot feedback and simple roll rate feedback with proportional control method in order to guarantee aircraft stability. This paper details the design process of developing lateral-directional control laws, utilizing the requirement of MIL-F-8785C and MIL-F-9490D. And, this paper propose the analysis of aircraft characteristics such as dutch-roll mode, roll mode, spiral mode, gain and phase margin about gains for lateral-directional inner loop feedback.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.792-797
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• 2009

This paper presents the evaluation of PID and fuzzy control logic for the lateral position control of a moving web in roll-to-roll (R2R) printed electronics. In addition, we report the implementation of computer simulation software that enables us to develop the control logic in a graphic user interface and to test the controller performance in 3D dynamic environment. A mathematical model of the web dynamics is described first to explain the lateral motion of a moving web. Based on the model, PID and fuzzy controllers are designed, and embedded in the simulation software. Under the simulation conditions for fabricating RFID antenna by R2R printing, the results indicate that the fuzzy controller shows a better performance and can be more suitable for R2R multi-layer printed electronics.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.595-601
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• 2015

This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.

• 한국전산구조공학회논문집
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• 제15권2호
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• pp.271-279
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• 2002

본 연구에서는 횡강성 영향행렬을 이용한 최적설계의 효율성을 높이기 위해 각 층에서 층별 영향행렬을 구하는 계산모듈을 개발하고 가상하중법에 의한 민감도 해석을 수행한다. 아울러 최적설계결과를 실무에 직접 적용할 수 있도록 층별 횡강성 증대계수에 근거하여 횡하중 저항시스템의 부재단면크기를 재산정하는 방안을 강구한다. 이를 위해 단면 재산정 방안은 연속형과 이산형 단면설계법으로 나누어 고려되며, 단면특성과 단면치수와의 관계가 설정된다. 특히 강도구속조건에 대한 초기설계가 먼저 수행된 후 횡변위 구속조건을 초과하는 횡변위를 제어하는데 있어서 횡하중 저항 시스템만이 저항하도록 설계한다. 본 연구에서 제안된 고층건물의 횡변위 제어 및 단면 재산정 방안을 검토하기 위해 두 가지 형태의 45층 삼차원 구조물이 고려된다.

• Journal of Electrical Engineering and Technology
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• 제11권4호
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• pp.1042-1048
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• 2016

This paper presents a lateral displacement restoring force control for the independently rotating wheelsets (IRWs) of shallow-depth subway systems. In the case of the near surface transit, which has recently been introduced, sharp curved driving performance is required for the city center service. It is possible to decrease the curve radius and to improve the performance of the straight running with the individual torque control. Therefore, the individual torque control performance of the motor is the most important point of the near surface transit. This paper deals with a lateral displacement restoring force control for sharp curved driving. The validity and usefulness of the proposed control algorithm is verified by experimental results using a small-scale bogie system.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2008년도 정기 학술대회
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• pp.210-215
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• 2008

This study presents an effective stiffness-based optimal technique to control quantitatively lateral drift and evaluates the structural behavior characteristics and efficiency for tall outrigger system subject to lateral loads. To this end, displacement sensitivity depending on behavior characteristics of outrigger system is established and approximation concept that can efficiently solve large scale problems is introduced. Specifically, under the 'constant-shape' assumption, resizing technique of member is developed. Two types of 60 story frameworks are presented to illustrate the features of the quantitative lateral drift control technique proposed in this study.

• 한국공간정보시스템학회:학술대회논문집
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• 한국공간정보시스템학회 2004년도 춘계 학술발표회 논문집 제1권1호(통권1호)
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• pp.96-102
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• 2004

This study presents an effective stiffness-based optimal technique to control quantitatively lateral drift for 3-D steel frameworks subject to lateral loads. To this end, the displacement sensitivity depending on behavior characteristics of 3-D steel frameworks is established. Also, approximation concept that can preserve the generality of the mathematical programming and can efficiently solve large scale problems is introduced. Resizing sections in the stiffness-based optimal design are assumed to be uniformly varying in size. Two types of 30-story frames are presented to illustrate the features of the Quantitative lateral drift control technique proposed in this study.

• 한국공간구조학회:학술대회논문집
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• 한국공간구조학회 2005년도 춘계학술발표회 및 정기총회 2권1호(통권2호)
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• pp.191-198
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• 2005

The effective stiffness-based optimal technique to control quantitatively lateral drift for shear wall-Frame structure system using composit member subject to lateral loads is presented. Also, displacement sensitivity depending on behavior characteristics of structure system is established and approximation concept that preserves the generality of the mathematical programming is introduced. Finally, the resizing technique of shear wall, frame and composite member is developed and the example of 20 story framework is presented to illustrate the features of the quantitative lateral drift control technique.