• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.4
• /
• pp.130-140
• /
• 2000

In this paper the reference model following control(RMFC) scheme through the optimal control theory is investigated for the independent rear wheel steering(IRWS) vehicle. RMFC vehicle follows the dynamic performance of a virtual vehicle as a reference model deisgned in the controller. Linear vehicle model of two degres-of-freedom is used to derive control scheme which is applied to full vehicle for evaluating handling performances. And 4WS vehicle through RMFC is compared to the conventional 2WS vehicle and 4WS vehicle in the J-turn test. The RMFC logic is also extended to IRWS vehicle, IRWS with RMFC shows not only the excellent handling performance but salso some advantages in terms of the directional stability and responsiveness from the simulation results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.7
• /
• pp.661-666
• /
• 2009

The linear model following controller(LMFC) scheme controls a plant based on the output of a reference model, thereby replacing a PI controller that has better time response characteristics, which are irrelevant to the structural perturbation of a plant. However, the main weakness of the LMFC scheme is a slow response time to load changes. Thus, to solve this problem, a robust linear model following controller(RMFC) was developed that is robust in load changes. However, when compared with the LMFC scheme, the RMFC scheme has a weaker performance in the case of system parameter changes. Therefore, this paper presents a new LMFC scheme, where the controller is designed based on the output of a plant rather than the output of a model, as in the case of the conventional LMFC scheme. As a result, in the case of load changes, the response characteristics of the proposed scheme are slower than those of the RMFC scheme, yet laster than those of the conventional LMFC scheme, however, for parameter changes, the proposed scheme has a superior performance over the RMFC scheme. The usefulness of the proposed LMFC scheme is verified through a comparison using MATLAB/SIMULINK.

• Resources Recycling
• /
• v.14 no.3
• /
• pp.6-15
• /
• 2005

The overall area of Taiwan is 36,006 km$^2$ and population was about 22,535,000 persons in 2003. The population density became 625persons/km$^2$. The economic of Taiwan progress since 1970. Gross national production in 2004 increased by 2.3 trillion or 493% relative to 1981. The number of automobiles in 1981 was 821,862, and increase to 6,389,186 in 2004. The number of motorcycles in 1981 were 4,591,547 and increase to 12,793,950 in 2004. The vehicle growth rate of automobile and motorcycle was 677% and 178% respectively. The recycling end-of-life vehicles(ELVs) is specified in the Waste Disposal Act. Its main content is the system of asking the vehicle manufacturer and importing agents, who are responsible for recycling of the ELVs. The recycling task on ELVs was startedinitially in 1993. It is required that the manufacturers and importing agents deposit certain ratios of Waste Vehicle Disposal Fees proportional to the number of vehicle they manufacture and import into Taiwan under sales. This report will introduce the current status of ELVs recycling in Taiwan, and the future direction, as well as measures proceeding for the EPA- Fund Management Committee(RMFC) operating in the fiture.

• Journal of the Korean Institute of Telematics and Electronics T
• /
• v.35T no.1
• /
• pp.82-89
• /
• 1998

PI controller has been used in the servo system. However the time response of the system designed using the PI control scheme does not provide with desirable time response in case of variation in system parameters or perturbation like a torque disturbance. LMFC(Linear model following controller) is being used to make the response of the system follow that of the model even though the parameter variation or the perturbation occurs. In this paper, a design method, RMFC(Robust Model Following Controller) is proposed, which use an auxiliary model in addition to the LMFC, which affords robustness against the low frequency load torque disturbance. The proposed method is more useful to rejecting the low frequency torque disturbance than LMFC. Proposed method is verified by simulation and experiment.

• Proceedings of the KIEE Conference
• /
• 1988.07a
• /
• pp.990-993
• /
• 1988

RMFC (Resolved Motion Force Control) is the method to control the Cartesian force and position using FCC (Force Convergent Control) instead of the complicated dynamic equations of the manipulator. The gain parameters of the controller are adjusted through many trial and errors. In this paper PD-optimal control method is introduced to give optimal gain parameters which minimize the difference between actural acceleration and desired acceleration. To show the validitiesn of the proposed method computer simulations are performed for the two-link manipulator.