• Proceedings of the KSME Conference
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• 2000.04a
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• pp.458-463
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• 2000

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.53-59
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• 2022

This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.8
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• pp.1429-1433
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• 2008

In this paper, we consider the design method of robust guaranteed cost controller for discrete-time singular systems with norm-bounded time-varying parameter uncertainty. In order to get the optimum(minimum) value of guaranteed cost, an optimization problem is given by linear matrix inequality (LMI) approach. The sufficient condition for the existence of controller and the upper bound of guaranteed cost function are proposed in terms of strict LMIs without decompositions of system matrices. Numerical examples are provided to show the validity of the presented method.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.7
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• pp.927-934
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• 2012

This paper suggests a new fuzzy PID controller with variable parameters which improves the shortage of the fuzzy PID controller with fixed parameters suggested in [9]. The derivation procedure follows the general design procedure of the fuzzy logic controller, while the resultant control law is the form of the conventional PID controller. Therefore, the suggested controller has two advantages. One is that it has only four fuzzy linguistic rules and analytical form of control laws so that the real-time control system can be implemented based on low-price microprocessors. The other is that the PID control action can always be achieved with time-varying PID controller gains only by adjusting the input and output scalers at each sampling time.

• Journal of KSNVE
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• v.8 no.3
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.12
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• pp.575-583
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• 2001

It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1224-1230
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• 2015

This paper is concerned with applicability of intelligent PID controller which is proposed by Fliss and Join recently. First, we analyze the stability regions of intelligent PID control systems when parameter α is varying, and propose a new method to determine the suitable range of α by using the roots locus. Second, the simulation study of magneto-rheological (MR) damper to the structural vibrations due to earthquakes is presented to verify the effectiveness of the intelligent PID control method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• Proceedings of the KIPE Conference
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• 2009.11a
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• pp.206-208
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• 2009

In this paper, a systematical controller design method for a twostage grid-connected photovoltaic power conditioning system is proposed. For a pre-stage boost converter to achieve the stable operation in the entire region of solar array, the digital resistive current mode controller is used. This algorithm is very simple to implement with a digital controller and there is no power stage parameter dependency in the controller design. For a post-stage single-phase full-bridge inverter, a PI controller with a feedforward compensation for the inner current control is employed. Furthermore, in case that the operating point of the solar array under varying environmental conditions is higher than the required voltage for the inverter current control, the bypass mode for the boost converter is possible for the more efficient operation. The proposed control scheme is validated through the experiment of the prototype two-stage power conditioning system hardware with a 200W solar array.