The Experts below are selected from a list of 12402 Experts worldwide ranked by ideXlab platform
K Nam - One of the best experts on this subject based on the ideXlab platform.
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practical synchronous Steering Angle control of a dual motor driving steer by wire system
IEEE Access, 2019Co-Authors: Hyeongjin Hwang, Hyungjeen Choi, K NamAbstract:Recently, dual-motor driving steer-by-wire (SbW) systems have been introduced and have received considerable attention because they can overcome the limitations of single motor driving SbW systems, which cannot provide large torques required by commercial vehicles and are vulnerable to faults. The two main issues on the performance of the dual-motor driving SbW systems is to ensure Steering robustness against model uncertainties, external disturbances, and road condition changes and to synchronize the Steering Angle. In this paper, a sliding mode controller (SMC) with a disturbance observer (DOB) under master-slave control is proposed to tackle these issues. The combination of an SMC and a DOB is employed to guarantee strong robustness against model uncertainties and external disturbances. In addition, master-slave control is applied to enhance the synchronization performance of dual motor driving SbW systems with significantly different dynamic and response characteristics. Comparative experimental studies are conducted to verify the excellent performance of the proposed control scheme for dual-motor driving SbW systems.
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Robust yaw stability control for electric vehicles based on active front Steering control through a steer-by-wire system
International Journal of Automotive Technology, 2012Co-Authors: K Nam, H. Fujimoto, S. Oh, Y HoriAbstract:A robust yaw stability control design based on active front Steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the Steering Angle-disturbance observer (SA-DOB), which rejects an input Steering disturbance by feeding a compensation Steering Angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle.
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robust yaw stability control for electric vehicles based on Steering Angle disturbance observer sa dob and tracking control design
Conference of the Industrial Electronics Society, 2010Co-Authors: K Nam, Y HoriAbstract:A robust yaw stability control design based on active Steering control is proposed for electric vehicles with in-wheel motors. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer (SA-DOB) which rejects an input Steering disturbance and an output yaw disturbance simultaneously by feeding a compensation Steering Angle) and an outer-loop tracking controller (i.e., PI-type Tracking Controller) to achieve the nominal control performances. The model uncertainty including unmodeled high frequency dynamics and parameter variations occurs in the wide range of driving situations. Hence, a robust control design method is applied to controller design for guaranteeing robust stability and robust performance of the control system at the same time. The proposed control algorithm was implemented in CaSim model, which was designed to describe actual electric vehicles. The control performance of the proposed yaw stability control system is verified through computer simulations.
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Steering Angle disturbance observer sa dob based yaw stability control for electric vehicles with in wheel motors
International Conference on Control Automation and Systems, 2010Co-Authors: K Nam, Yunha Kim, Y HoriAbstract:In this paper, a robust yaw stability control design based on active Steering control is proposed for electric vehicles. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer(SA-DOB) which rejects an input Steering disturbance and an output yaw disturbance simultaneously by feeding a compensation Steering Angle) and an outer-loop controller (i.e., PI-type Tracking Controller) to achieve the control performances. The control performance of the proposed yaw stability control system is verified through computer simulations and experiments.
Y Hori - One of the best experts on this subject based on the ideXlab platform.
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Robust yaw stability control for electric vehicles based on active front Steering control through a steer-by-wire system
International Journal of Automotive Technology, 2012Co-Authors: K Nam, H. Fujimoto, S. Oh, Y HoriAbstract:A robust yaw stability control design based on active front Steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the Steering Angle-disturbance observer (SA-DOB), which rejects an input Steering disturbance by feeding a compensation Steering Angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle.
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robust yaw stability control for electric vehicles based on Steering Angle disturbance observer sa dob and tracking control design
Conference of the Industrial Electronics Society, 2010Co-Authors: K Nam, Y HoriAbstract:A robust yaw stability control design based on active Steering control is proposed for electric vehicles with in-wheel motors. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer (SA-DOB) which rejects an input Steering disturbance and an output yaw disturbance simultaneously by feeding a compensation Steering Angle) and an outer-loop tracking controller (i.e., PI-type Tracking Controller) to achieve the nominal control performances. The model uncertainty including unmodeled high frequency dynamics and parameter variations occurs in the wide range of driving situations. Hence, a robust control design method is applied to controller design for guaranteeing robust stability and robust performance of the control system at the same time. The proposed control algorithm was implemented in CaSim model, which was designed to describe actual electric vehicles. The control performance of the proposed yaw stability control system is verified through computer simulations.
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Steering Angle disturbance observer sa dob based yaw stability control for electric vehicles with in wheel motors
International Conference on Control Automation and Systems, 2010Co-Authors: K Nam, Yunha Kim, Y HoriAbstract:In this paper, a robust yaw stability control design based on active Steering control is proposed for electric vehicles. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer(SA-DOB) which rejects an input Steering disturbance and an output yaw disturbance simultaneously by feeding a compensation Steering Angle) and an outer-loop controller (i.e., PI-type Tracking Controller) to achieve the control performances. The control performance of the proposed yaw stability control system is verified through computer simulations and experiments.
Nong Zhang - One of the best experts on this subject based on the ideXlab platform.
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A Novel Observer Design for Simultaneous Estimation of Vehicle Steering Angle and Sideslip Angle
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Bangji Zhang, James Lam, Nong ZhangAbstract:Both Steering Angle and sideslip Angle are important states for vehicle handling and stability control. Instead of directly measuring these Angles, indirect estimation of these states will provide a cost-effective way for the implementation of vehicle control systems. In the past, model-based methods have been proposed to estimate the sideslip Angle with the measured Steering Angle. In this paper, a novel observer design is presented for simultaneous estimation of vehicle Steering Angle and sideslip Angle so that the estimation of sideslip Angle does not require the measurement of Steering Angle and the estimate of Steering Angle can also be used for other purposes, such as automatic Steering control, Steering system fault diagnosis, and driving performance monitoring. To enable this observer design, the Takagi–Sugeno (T–S) fuzzy modeling technique is applied to represent the vehicle lateral dynamics model with nonlinear Dugoff tyre model and time-varying vehicle speed. A T-S observer is then designed to simultaneously estimate the Steering Angle and sideslip Angle with the measurements of yaw rate and vehicle speed, and is designed to be robust against parameter uncertainties and unknown inputs. The conditions for designing such an observer are derived in terms of linear matrix inequalities (LMIs). Experimental results are used to validate the effectiveness of the proposed approach. The results show that the designed observer can effectively estimate Steering Angle and sideslip Angle despite the variation of vehicle longitudinal speed.
Han Zhang - One of the best experts on this subject based on the ideXlab platform.
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displacement and force coupling control design for automotive active front Steering system
Mechanical Systems and Signal Processing, 2018Co-Authors: Wanzhong Zhao, Han ZhangAbstract:Abstract A displacement and force coupling control design for active front Steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a Steering motor to generate an active Steering Angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra Steering Angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.
Bangji Zhang - One of the best experts on this subject based on the ideXlab platform.
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A Novel Observer Design for Simultaneous Estimation of Vehicle Steering Angle and Sideslip Angle
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Bangji Zhang, James Lam, Nong ZhangAbstract:Both Steering Angle and sideslip Angle are important states for vehicle handling and stability control. Instead of directly measuring these Angles, indirect estimation of these states will provide a cost-effective way for the implementation of vehicle control systems. In the past, model-based methods have been proposed to estimate the sideslip Angle with the measured Steering Angle. In this paper, a novel observer design is presented for simultaneous estimation of vehicle Steering Angle and sideslip Angle so that the estimation of sideslip Angle does not require the measurement of Steering Angle and the estimate of Steering Angle can also be used for other purposes, such as automatic Steering control, Steering system fault diagnosis, and driving performance monitoring. To enable this observer design, the Takagi–Sugeno (T–S) fuzzy modeling technique is applied to represent the vehicle lateral dynamics model with nonlinear Dugoff tyre model and time-varying vehicle speed. A T-S observer is then designed to simultaneously estimate the Steering Angle and sideslip Angle with the measurements of yaw rate and vehicle speed, and is designed to be robust against parameter uncertainties and unknown inputs. The conditions for designing such an observer are derived in terms of linear matrix inequalities (LMIs). Experimental results are used to validate the effectiveness of the proposed approach. The results show that the designed observer can effectively estimate Steering Angle and sideslip Angle despite the variation of vehicle longitudinal speed.
