• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.5 s.122
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• pp.464-471
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• 2007

This paper presents a maneuver analysis of a full-vehicle featuring electrorheological(ER) suspension and ER brake. In order to achieve this goal, an ER damper and an ER valve pressure modulator are devised to construct ER suspension and ER brake systems, respectively. After formulating the governing equations of the ER damper and ER valve pressure modulator, they are designed and manufactured for a middle-sized passenger vehicle, and their field-dependent characteristics are experimentally evaluated. The governing equation of motion for the full-vehicle is then established and integrated with the governing equations of the ER suspension and ER brake. Subsequently, a sky-hook controller for the ER suspension and a sliding mode controller for the ER brake are formulated and implemented. Control performances such as vertical displacement and braking distance of vehicle are evaluated under various driving conditions through computer simulations.

• Advances in aircraft and spacecraft science
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• v.4 no.1
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• pp.53-64
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• 2017

Aerospace Launch Vehicles (ALV) are generally designed with high reliability to operate in complete security through fault avoidance practices. However, in spite of such precaution, fault occurring is inevitable. Hence, there is a requirement for on-board fault recovery without significant degradation in the ALV performance. The present study develops an advanced fault recovery strategy to improve the reliability of an Aerospace Launch Vehicle (ALV) navigation system. The proposed strategy contains fault detection features and can reconfigure the system against common faults in the ALV navigation system. For this purpose, fault recovery system is constructed to detect and reconfigure normal navigation faults based on the sliding mode observer (SMO) theory. In the face of pitch channel sensor failure, the original gyro faults are reconstructed using SMO theory and by correcting the faulty measurement, the pitch-rate gyroscope output is constructed to provide fault tolerant navigation solution. The novel aspect of the paper is employing SMO as an online tuning of analytical fault recovery solution against unforeseen variations due to its hardware/software property. In this regard, a nonlinear model of the ALV is simulated using specific navigation failures and the results verified the feasibility of the proposed system. Simulation results and sensitivity analysis show that the proposed techniques can produce more effective estimation results than those of the previous techniques, against sensor failures.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.194-207
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• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.78-85
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• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• Journal of Institute of Control, Robotics and Systems
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• v.1 no.1
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• pp.25-32
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• 1995

Nonlinear depth control algorithms for the hovering system of underwater vehicles are presented. In this paper, a nonlinear effect in heave motion for underwater vehicles, a deadzone effect of the flow control valve in the hovering tank and an impact disturbance are considered. In this situation, in order to choose a desirable controller, sliding mode controller and fuzzy sliding mode controller are designed and compared. The computer simulation results show that the fuzzy sliding mode control system is more suitable in order to maintain a desirable depth of an underwater vehicle with a deadzone and impact disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.349-352
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• 1997

In this paper, we propose a new longitudinal controller of automated vehicles. The controller is designed based on a sliding control method, which is known to be robust to disturbances and modelling errors. Contrary to currently available sliding controller, a switching controller gain method is suggested. It is shown throughout simulations that the proposed controller reduces the amount of overshoot, which may derive smoother velocity tracking in a platoon.

• International Journal of Automotive Technology
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• v.1 no.1
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• pp.48-55
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• 2000

Two major roles of the traction control system (TCS) are to guarantee the acceleration performance and directional stability even in extreme road conditions, under which average drivers may not control the car properly. Commercial TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various road and vehicle conditions. This paper proposes a new slip controller which uses the brake and the throttle actuator simultaneously. To avoid measurement problems and to get a simple structure, the brake controller and the throttle controller are designed using Lyapunov redesign method and multiple sliding mode control respectively. Through the hybrid use of brake and throttle controllers, the vehicle is insensitive to the variation of the vehicle mass, brake gain and road condition and can achieve the required acceleration performance. The proposed method is validated with simulations based on 15 DOF passenger car model.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.13-20
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• 2023

This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW systems, maintaining reliability and fault tolerance in such systems are the most pressing issues. In most previous studies, dual steering motors are used to achieve actuation redundancy. However, relatively few studies have been conducted to introduce fault tolerant control strategies using rear wheel steering system. In this work, an actuator fault in front wheel steering is compensated by active rear wheel steering. The proposed fault tolerant control algorithm consists of disturbance observer and sliding mode control. The fault tolerant control performance of the proposed approach is validated via computer simulation studies with Carsim vehicle dynamics software and MATLAB/Simulink.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.40 no.1
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• pp.1-11
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• 2020

Medium to large post structures installed along the roadside without proper protection can lead to serious vehicle damage and occupant injury at the impact. In North America and Europe, splitting systems such as slip base or breakaway device are used to reduce impacts. But the system has the risk of secondary accident when the splitted post falls down to the traffic or pedestrian. Sliding Post have been proposed as a way to solve this problem. By studying the crash test results of the 1.3ton and 0.9ton vehicle with 60 km/h and 80 km/h to a Rigidly Fixed Post (RFP) and Sliding Post (SP), danger of the conventional RFP and crashworthiness of the SP have been proven. While collision analysis only from the acceleration measured at the center of the vehicle assumes the motion of the post is the same as that of the vehicle, in this paper, by adding high speed film data to the analysis with vehicle acceleration could have separate the post motion from the vehicle motion. It gives better explanations on the movement of post and vehicle in each distinctive time step and provides basics to the crashworthy post design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.591-597
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• 2017

This study is to develop a vehicle Integrated Dynamics Control System(IDCB) that can stabilize the lateral dynamics and maintain steerability. To accomplish this task, an eight degree of freedom vehicle model and a nonlinear observer are designed. The IDCB independently controls the brake systems of four wheels with a fuzzy logic control and a sliding model control. The result shows that the nonlinear observer produced satisfactory results. IDCB tracked the reference yaw rate and reduced the body slip angle under all tested conditions. It indicates that the IDCB enhanced lateral stability and preserved steerability.