• International Journal of Automotive Technology
• /
• v.7 no.2
• /
• pp.145-154
• /
• 2006

In the companion paper, the composition and structure of the MATDYMO (Multi-Agent for Traffic Simulation with Vehicle Dynamic Model) were proposed. MATDYMO consists of the road management system, the vehicle motion control system, the driver management system, and the integration control system. Among these systems, the road management system and the integration control system were discussed In the companion paper. In this paper, the vehicle motion control system and the driver management system are discussed. The driver management system constructs the driver agent capable of having different driving styles ranging from slow and careful driving to fast and aggressive driving through the yielding index and passing index. According to these indices, the agents pass or yield their lane for other vehicles; the driver management system constructs the vehicle agents capable of representing the physical vehicle itself. A vehicle agent shows its behavior according to its dynamic characteristics. The vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation is conducted for an interrupted flow model and its results are verified by comparison with the results from a commercial software, TRANSYT-7F. The interrupted flow model simulation is implemented for three cases. The first case analyzes the agents' behaviors in the interrupted flow model and it confirms that the agent's behavior could characterize the diversity of human behavior and vehicle well through every rule and communication frameworks. The second case analyzes the traffic signals changed at different intervals and as the acceleration rate changed. The third case analyzes the effects of the traffic signals and traffic volume. The results of these analyses showed that the change of the traffic state was closely related with the vehicle acceleration rate, traffic volume, and the traffic signal interval between intersections. These simulations confirmed that MATDYMO can represent the real traffic condition of the interrupted flow model. At the current stage of development, MATDYMO shows great promise and has significant implications on future traffic state forecasting research.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.2
• /
• pp.131-138
• /
• 2004

Automatic flight control system (AFCS) for a low-cost unmanned aerial vehicle is described in this paper. Development process and block diagram of the AFCS are introduced. The flight control law for longitudinal and lateral channel autopilot is designed using optimization process. In this procedure, the performance index is composed of desired location of closed loop system poles and H$_2$norm of the resultant flight control system. This procedure is applied to the autopilot design of an unmanned target vehicle. Performance of the AFCS is evaluated by processor-in-the-loop simulation test and flight test. These results show that the AFCS has acceptable performance fur low cost UAV.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.4
• /
• pp.167-175
• /
• 2001

This paper presents design of active roll controller of a vehicle and experimental study using the electric actuating roll control system. Firstly, parameter sensitivity analysis is performed based on 3DOF linear vehicle model. The controller is designed in the frame work of gain-scheduled H$\infty$ control scheme considering the varying parameters induced by laden and running vehicle condition. In order to investigate a feasibility of an active control system, experimental work is performed using hardware-in-the -loop setup which has been constructed by the devised electric actuating system and the full vehicle model with tire characteristics. The performance is evaluated by experiment using hardware-in-the -loop simulation under the conditions of some steer maneuvers and parameter variations.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.56 no.10
• /
• pp.1770-1774
• /
• 2007

In this paper we deal with a design of the evaluation system to assess the vehicle operational control algorithm for Personal Rapid Transit(PRT) system. PRT system is different from the conventional rail traffic system in such that the station is off-line so as to guarantee a very short headway. In this study we propose an evaluation system to assess the performance of the proposed vehicle control algorithm. The evaluation system is composed of virtual vehicles, central control system, virtual wayside facilities, monitoring equipments. The virtual vehicles are made up by the laptop computers and the central control system employs Power PC process of Motorola Inc. The wayside facilities are implemented by employing the PXI module of the National Instruments Corporation. In order to test the proposed evaluation system a test algorithm is used, which has been simulated in the combined simulation system between Labview Simulation Interface Toolkit and Matlab/Simulink.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.4 no.2
• /
• pp.30-41
• /
• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, It needs a robust performance which can get over the nonlinear characteristics due to hull shape. Second, It needs an accurate performance which has the small overshoot phenomenon and steady state error to avoid colliding with ground surface and obstacles. Third, It needs a continuous control input to reduce the acoustic noise. Finally, It needs an effective interpolation method which can reduce the dependency of control parameters on speed. To solve these problems, we propose a Intelligence depth control method using Fuzzy Sliding Mode Controller and Neural Network Interpolator. Simulation results show the proposed control scheme has robust and accurate performance by continuous control input and has no speed dependency problem.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.11
• /
• pp.1051-1058
• /
• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.8
• /
• pp.367-375
• /
• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, it needs robust performance which can get over modeling error, parameter variation and disturbance. Second, it needs accurate performance which have small overshoot phenomenon and steady state error to avoid colliding with ground surface or obstacles. Third, it needs continuous control input to reduce the acoustic noise and propulsion energy consumption. Finally, it needs interpolation method which can sole the speed dependency problem of controller parameters. To solve these problems, we propose a depth control method using Fuzzy Sliding Mode Controller with feedforward control-plane bias term and Neural Network Interpolator. Simulation results show the proposed method has robust and accurate control performance by the continuous control input and has no speed dependency problem.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.661-667
• /
• 2010

This paper presents a failure diagnosis and accommodation strategy which is capable of tolerating faulty actuators of a submersible vehicle. The proposed method is mainly based on a sliding mode control technique. The primary ideas include a performance index to describe the effectiveness of actuators, and a controller reconfiguration strategy using the actuator effectiveness index. The actuator effectiveness proposed in this work is defined as the relationship between the sliding surface and the controlled system behavior. The resulting actuator effectiveness is then used in reconfiguring the controller in order to counteract for the deteriorated control performance in the presence of a faulty actuator. The effectiveness of the proposed method is demonstrated by means of numerical simulations with a submersible vehicle.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2173-2175
• /
• 2003

This paper presents a cruise control system design using variable structure control (AVCS) is an important part of the intelligent vehicle and highway systems (IVHS). A vehicle desired acceleration profile has been designed based on the vehicle speed and distance control algorithm. Cruise control system has been designed using VSC theory for which we propose a moving switching surface(MSS). It has been shown that the proposed control system can provide satisfactory performance. Simulation results are given to show the effectiveness of this controller.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.3
• /
• pp.266-271
• /
• 2015

This paper presents the driving and bouncing control of a robotic vehicle for entertainment and transportation. The robotic vehicle is aimed to carry two passengers with a balancing mechanism by two wheels. To maximize the entertaining purpose, not only the balancing control performance but the bouncing control performance is implemented. Passengers can select different driving modes such as regular driving mode, balancing mode, and bouncing mode. Experimental studies of the balancing control performance as well as the bouncing control performance are conducted to see the feasibility as an entertainment robotic vehicle.