• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.636-639
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• 1997

In this paper, a dynamic control scheme is proposed which not only compensates for the lateral dynamics and longitudinal dynamics but also deal with the yaw motion dynamics. Using the dynamic control technique, adaptive and learning algorithm together, the proposed controller is not only robust to disturbance and parameter uncertainties but also can learn the inverse dynamics model in steady state. Based on the proposed dynamic control scheme, a dynamic vehicle simulator is contructed to design and test various control techniques for 4-wheel steering vehicles.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.167-172
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• 2006

A design of controller for vehicle dynamic control(VDC) and its implementation on the real vehicle were introduced. The controller has been designed using a three-degrees-of-freedom(3DOF) yaw plane vehicle, and the control algorithm was implemented on the vehicle by control prototyping system dSPACE. A hybrid control algorithm, which makes full use of the advantages of robust and fuzzy control, was adopted in the control system. Field test results show that the performance of the vehicle handling dynamics with hybrid controller is improved obviously compared to that without VDC and with simple robust controller on skiddy roads(friction coefficients lower than 0.3).

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.6
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• pp.1229-1238
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• 2011

This paper deals with the lateral dynamic model of an all-wheel steered articulated vehicle to design a guidance controller. Nonlinear dynamic model of articulated vehicle is developed by complementing the model about the BRT system of California PATH in U. S. A. and the Phileas system of the APTS in Netherlands. Linear lateral dynamic model has been derived from the nonlinear dynamic model under some assumptions associated with the driving conditions. To design a guidance controller, we derive a transfer function that is steering angle as input and lateral acceleration as output from the linear lateral dynamic model by applying the parameter of vehicle that is developed by Korea Railroad Research Institute. To validate the dynamic model, nonlinear dynamic model has been compared with a vehicle model that has been programmed in ADAMS, and linear dynamic model has been compared with a nonlinear dynamic model under sime assumptions.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.12
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• pp.653-660
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• 2006

In this paper, dynamic simulation results for modules of a magnetically-levitated(Maglev) vehicle are presented. The mathematical dynamic models for the Maglev vehicle are firstly derived. The Maglev system consists of one vehicle, two half-bogies, one guideway, four secondary suspensions, eight electromagnets and levitation control systems. Also, the dynamic characteristics are analysed by using the derived models. Finally, two simulations such as reference airgap step change of 1mm and rail step change of 1mm, are carried out. The dynamic simulation results are shown to testify the developed dynamic simulation program. From the results, we can see the possibility of the dynamic simulation program to develop a new Maglev vehicle system.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.720-726
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• 2001

This paper describes a vehicle driving-load estimation method for application to vehicle Intelligent Cruise Control (ICC). Vehicle driving-load consists of aerodynamic force, rolling resistance, and gravitational force due to road slope and is unknown disturbance in a vehicle dynamic model. The vehicle driving-load has been estimated from engine and wheel speed measurements using a vehicle dynamic model a least square method. The estimated driving-load has been used in the adaptation of throttle/brake control law. The performance of the control law has been investigated via both simulation and vehicle tests. The simulation and test results show that the proposed control law can provide satisfactory vehicle-to-vehicle distance control performance for various driving situations.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.981-992
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1002-1011
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2008.04a
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• pp.555-560
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• 2008

Dynamic interaction analysis between actively controlled Maglev and bridge is carried out. For this, dynamic governing equation for 2-dof Maglev vehicle and optimal feedback control scheme of DOFC are developed. And then the dynamic effect of the 1st natural frequency of bridge, vehicle/bridge mass ratio and damping coefficient of bridge to the both of air-gap variations of UTM-01 maglev vehicle and bridge center maximum displacement response are investigated. From the results of numerical simulation, it is found that the 1st natural frequency of bridge, vehicle/bridge mass ratio and damping coefficient of bridge does not affect greatly within design velocity of the vehicle.