• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.32-38
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• 2013

This paper presents collision avoidance using model predictive control algorithm. A model predictive control algorithm determines lateral tire force and yaw moment and steering angle input and differential braking input is determined from lateral tire force and yaw moment. A constraint for model predictive control is designed for obstacle avoidance. A objective function is designed to minimize lateral tire force and yaw moment input and to follow changed lane after collision avoidance. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.

• Annual Conference of KIPS
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• 2021.11a
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• pp.409-412
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• 2021

본 논문에서는 카페나 패스트푸드점같은 장소에서 인간을 대신하여 임의의 위치에 있는 다양한 컵을 3D 카메라로 검출하여 알맞은 위치로 분리수거하는 6축 수직 다관절 로봇 팔을 설계하였다. Yaw-Pitch-Pitch-Pitch-Yaw-Yaw 6축 구조로 설계하였으며, 이를 구동하기 위한 관절 구동기의 용량을 분석을 통해 최적화하였다. 각각 재질이 다른 컵을 그리퍼를 이용하여 잘 파지할 수 있도록 재질에 따른 파지력을 분석하였고 압력센서를 이용하여 재질이 다른 컵을 구분하여 분리수거 할 수 있도록 하였다. 실험을 통해 로봇의 성능과 개선점을 제시하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.212-219
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• 1999

This paper describes the NANDO VDC (Vehicle Dynamics Control) system for the vehicle stability enhancement and consists of the control strategies , computer simulation and tests on the various road surface. This VDC system controls the dynamic vehicle motion in the emergency situation such as the final oversteer/understeer andallows the vehicle to follow the course as desired by the driver. The system is based on an active yaw control and its performance verified by the test is shown. Also the comparison between the MANDO VDC System and a competitor is carried out.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.4
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• pp.361-370
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• 1992

A controller of the hovering VTOL aircraft with four fan is constructed by SRFIMF(State Rate Feedback Implicit Model-Following)theory, in which feedback state are angle acceleration, angle velocity and angle position of the aircraft during hover With yaw control of the system, characteristics of the hovering aircraft can be analyzed by changing states feedback gain and sponse provides robust stable hovering system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.336-336
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• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.66-75
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• 2008

In this work, we explore the feasibility of roll-pitch-yaw integrated autopilots for high angle-of-attack missiles. An investigation of the aerodynamic characteristics of a surface-to-air missile is presented, which reveals the strong effects of cross coupling between the longitudinal and lateral dynamics. Robust control techniques based on $H_{\infty}$ synthesis are employed to design roll-pitch-yaw integrated autopilots. The performance of the proposed roll-pitch-yaw integrated controller is tested in high-fidelity nonlinear five-degree-of-freedom simulations accounting for kinematic cross-coupling effects between the lateral and longitudinal channels. Against nonlinearity and cross-coupling effects of the missile dynamics, the integrated controller demonstrates superior performance when compared with the controller designed in a decoupled manner.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.26-34
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• 2004

This paper examines the usefulness of a Brake Steer System(BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems(ITS). In order to help the car to turn, a yaw moment control was achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS was used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model was validated using the equations of motion of the vehicle. Then a controller was developed. This controller, which is a PID controller tuned by Ziegler-Nichols, is designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.253-259
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• 2014

This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.6 s.165
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• pp.931-942
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• 1999

This paper develops a 3 DOF vehicle model which includes lateral, roll and yaw motion to study a 4WS vehicle. The model is used for the simulation of a 4WS vehicle behavior, and to derive a control algorithm for rear wheel steering. This paper uses a feedforward plus feedback control scheme to compute a rear wheel steering angle. The feedforward control scheme for computing the first rear wheel steering angle uses a gain which is acquired by multiplying a proper value on a gain to maintain a zero sideslip angle. The feedback control scheme for computing the second rear wheel steering angle uses fuzzy logic and model following control scheme. A linear 2 DOF model is used as a reference model for model following control, and is derived from the developed 3 DOF model by neglecting sprung mass roll motion. A reference state variable is yaw rate, and is computed using the linear 2 DOF model. J-turn and lane change maneuver simulation are performed to show the effectiveness of the developed control scheme. The simulation results show that the 4WS vehicle with the developed control scheme has much better performance in yaw rate, lateral acceleration, roll angle, and sideslip angle than the 2WS vehicle. Also, the results show that the performance of the developed control is close to the one of an optimal control which assumes all states are perfect.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.256-261
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• 2016

An insect-like flapping-wing flying-robot should be able to produce flight forces and control moments at the same time only by flapping wings, because there is no control surface at tail just like an insect. In this paper, design principles for the flapping mechanism and control moment generator are briefly explained, characteristics measured force and moment generations of the robot are presented, and finally controlled flight of the flying robot is demonstrated. The present insect-like robot comprises a lightweight flapping mechanism that can produce a flapping angle larger than $180^{\circ}$ and a control moment generator that produces pitch, roll, and yaw moments by adjusting location of the trailing edges at the wing roots. The measured force and moment data show that the control input angles less than $9^{\circ}$ would not significantly reduce the vertical force generation. It is also observed that the pitch, roll, and yaw control moments are produced only by the corresponding control input. The simple PID control theory is used for the controlled flight of the flying robot, controlling pitch, roll, and yaw motions. The flying robot successfully demonstrated controlled flight for about 40 seconds.