The Experts below are selected from a list of 3270 Experts worldwide ranked by ideXlab platform
Chung Choo Chung - One of the best experts on this subject based on the ideXlab platform.
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Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles.
Sensors, 2018Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:The development of sensor technology enabled the use of composite sensors to measure the torque and Angle of Steering Wheels at gradually decreasing costs while maintaining the required safety. The electric power Steering (EPS) is vital to the safety of the car, therefore it is not worth sacrificing safety to save cost and the SWA control with Angle sensor gradually becomes the mainstream. Existing methods to control Steering Wheel Angle (SWA) for EPS consider the self-aligning torque as a disturbance that should be rejected. However, this torque is useful to return the SWA from an outward to the center position. Hence, we propose a nonlinear control of SWA using the self-aligning torque for EPS in the lateral control system of autonomous vehicles. The proposed method consists of a high-gain disturbance observer and a backstepping controller, where the former aims to estimate the self-aligning torque, and an auxiliary state variable prevents using the derivative of the measured signal. The nonlinear controller is designed via backstepping to bound the SWA tracking error. The self-aligning torque provides damping that can improve the controller tracking when following the same direction of the input torque on the Steering Wheel control. In this case, the control input can be reduced by the damping effect of the self-aligning torque. The performance of the proposed method is validated through EPS hardware-in-the-loop simulation.
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Torque-Overlay-Based Robust Steering Wheel Angle Control of Electrical Power Steering for a Lane-Keeping System of Automated Vehicles
IEEE Transactions on Vehicular Technology, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:We propose a torque-overlay-based robust Steering Wheel Angle (SWA) control method of electrical power Steering (EPS) for a lane-keeping system of automated vehicles. The proposed method consists of an augmented observer and a nonlinear damping controller to guarantee the semiglobal uniform ultimate boundedness of the SWA tracking error using only SWA feedback. The key idea of the proposed method is that the system functions with unknown parameters and external disturbance, along with their derivatives, are combined into an augmented state variable for designing the nonlinear observer in the absence of Lipschitz conditions. The augmented observer is designed to estimate the full state and disturbance. The nonlinear damping controller is developed via backstepping to suppress the Angle tracking error using the input-to-state stability property when the estimation error becomes large. Since the proposed method is designed based on torque overlay, a torque integration using basic functions of the EPS for SWA control is available for driver convenience. Furthermore, no modification of the EPS is required. The performance of the proposed method was validated through experimentation with a test vehicle.
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Torque Overlay Based Robust Steering Wheel Angle Control for Lateral Control Using Backstepping Design
IFAC Proceedings Volumes, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:Abstract We propose a torque overlay based robust Steering Wheel Angle control of electric power Steering (EPS) for lateral control using backstepping design. The main contribution of this paper is that the proposed method is designed based on torque overlay and that the global uniform ultimate boundedness of the Steering Wheel Angle tracking error is guaranteed using only Steering Wheel Angle feedback with external disturbances. The key idea is to make the EPS dynamics be simplified. Then, the external disturbances, system function, and input gain uncertainty are regarded as a disturbance. An augmented observer is designed to estimate the full state and the disturbance. A nonlinear damping controller is developed via backstepping to suppress a position tracking error using input-to-state stability property. The proposed method uses only Steering Wheel Angle feedback and nominal value of the input gain. The proposed method is simple to implement in real-time control and robust to the parameter uncertainties and the external disturbances. Since the proposed method is designed based on torque overlay as add-on type, it can be integrated with the conventional EPS system facilitating driver's intervention.
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Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
Journal of Institute of Control Robotics and Systems, 2015Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:In this paper, we develop a sliding mode control for Steering Wheel Angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power Steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the Steering Wheel Angle. The sliding mode Steering Wheel Angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the Steering Wheel Angle control is available for the driver’s convenience. The performance of the proposed method was validated via experiments.
Wonhee Kim - One of the best experts on this subject based on the ideXlab platform.
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Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles.
Sensors, 2018Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:The development of sensor technology enabled the use of composite sensors to measure the torque and Angle of Steering Wheels at gradually decreasing costs while maintaining the required safety. The electric power Steering (EPS) is vital to the safety of the car, therefore it is not worth sacrificing safety to save cost and the SWA control with Angle sensor gradually becomes the mainstream. Existing methods to control Steering Wheel Angle (SWA) for EPS consider the self-aligning torque as a disturbance that should be rejected. However, this torque is useful to return the SWA from an outward to the center position. Hence, we propose a nonlinear control of SWA using the self-aligning torque for EPS in the lateral control system of autonomous vehicles. The proposed method consists of a high-gain disturbance observer and a backstepping controller, where the former aims to estimate the self-aligning torque, and an auxiliary state variable prevents using the derivative of the measured signal. The nonlinear controller is designed via backstepping to bound the SWA tracking error. The self-aligning torque provides damping that can improve the controller tracking when following the same direction of the input torque on the Steering Wheel control. In this case, the control input can be reduced by the damping effect of the self-aligning torque. The performance of the proposed method is validated through EPS hardware-in-the-loop simulation.
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Torque-Overlay-Based Robust Steering Wheel Angle Control of Electrical Power Steering for a Lane-Keeping System of Automated Vehicles
IEEE Transactions on Vehicular Technology, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:We propose a torque-overlay-based robust Steering Wheel Angle (SWA) control method of electrical power Steering (EPS) for a lane-keeping system of automated vehicles. The proposed method consists of an augmented observer and a nonlinear damping controller to guarantee the semiglobal uniform ultimate boundedness of the SWA tracking error using only SWA feedback. The key idea of the proposed method is that the system functions with unknown parameters and external disturbance, along with their derivatives, are combined into an augmented state variable for designing the nonlinear observer in the absence of Lipschitz conditions. The augmented observer is designed to estimate the full state and disturbance. The nonlinear damping controller is developed via backstepping to suppress the Angle tracking error using the input-to-state stability property when the estimation error becomes large. Since the proposed method is designed based on torque overlay, a torque integration using basic functions of the EPS for SWA control is available for driver convenience. Furthermore, no modification of the EPS is required. The performance of the proposed method was validated through experimentation with a test vehicle.
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Torque Overlay Based Robust Steering Wheel Angle Control for Lateral Control Using Backstepping Design
IFAC Proceedings Volumes, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:Abstract We propose a torque overlay based robust Steering Wheel Angle control of electric power Steering (EPS) for lateral control using backstepping design. The main contribution of this paper is that the proposed method is designed based on torque overlay and that the global uniform ultimate boundedness of the Steering Wheel Angle tracking error is guaranteed using only Steering Wheel Angle feedback with external disturbances. The key idea is to make the EPS dynamics be simplified. Then, the external disturbances, system function, and input gain uncertainty are regarded as a disturbance. An augmented observer is designed to estimate the full state and the disturbance. A nonlinear damping controller is developed via backstepping to suppress a position tracking error using input-to-state stability property. The proposed method uses only Steering Wheel Angle feedback and nominal value of the input gain. The proposed method is simple to implement in real-time control and robust to the parameter uncertainties and the external disturbances. Since the proposed method is designed based on torque overlay as add-on type, it can be integrated with the conventional EPS system facilitating driver's intervention.
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Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
Journal of Institute of Control Robotics and Systems, 2015Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:In this paper, we develop a sliding mode control for Steering Wheel Angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power Steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the Steering Wheel Angle. The sliding mode Steering Wheel Angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the Steering Wheel Angle control is available for the driver’s convenience. The performance of the proposed method was validated via experiments.
Young Seop Son - One of the best experts on this subject based on the ideXlab platform.
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Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles.
Sensors, 2018Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:The development of sensor technology enabled the use of composite sensors to measure the torque and Angle of Steering Wheels at gradually decreasing costs while maintaining the required safety. The electric power Steering (EPS) is vital to the safety of the car, therefore it is not worth sacrificing safety to save cost and the SWA control with Angle sensor gradually becomes the mainstream. Existing methods to control Steering Wheel Angle (SWA) for EPS consider the self-aligning torque as a disturbance that should be rejected. However, this torque is useful to return the SWA from an outward to the center position. Hence, we propose a nonlinear control of SWA using the self-aligning torque for EPS in the lateral control system of autonomous vehicles. The proposed method consists of a high-gain disturbance observer and a backstepping controller, where the former aims to estimate the self-aligning torque, and an auxiliary state variable prevents using the derivative of the measured signal. The nonlinear controller is designed via backstepping to bound the SWA tracking error. The self-aligning torque provides damping that can improve the controller tracking when following the same direction of the input torque on the Steering Wheel control. In this case, the control input can be reduced by the damping effect of the self-aligning torque. The performance of the proposed method is validated through EPS hardware-in-the-loop simulation.
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Torque-Overlay-Based Robust Steering Wheel Angle Control of Electrical Power Steering for a Lane-Keeping System of Automated Vehicles
IEEE Transactions on Vehicular Technology, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:We propose a torque-overlay-based robust Steering Wheel Angle (SWA) control method of electrical power Steering (EPS) for a lane-keeping system of automated vehicles. The proposed method consists of an augmented observer and a nonlinear damping controller to guarantee the semiglobal uniform ultimate boundedness of the SWA tracking error using only SWA feedback. The key idea of the proposed method is that the system functions with unknown parameters and external disturbance, along with their derivatives, are combined into an augmented state variable for designing the nonlinear observer in the absence of Lipschitz conditions. The augmented observer is designed to estimate the full state and disturbance. The nonlinear damping controller is developed via backstepping to suppress the Angle tracking error using the input-to-state stability property when the estimation error becomes large. Since the proposed method is designed based on torque overlay, a torque integration using basic functions of the EPS for SWA control is available for driver convenience. Furthermore, no modification of the EPS is required. The performance of the proposed method was validated through experimentation with a test vehicle.
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Torque Overlay Based Robust Steering Wheel Angle Control for Lateral Control Using Backstepping Design
IFAC Proceedings Volumes, 2016Co-Authors: Wonhee Kim, Young Seop Son, Chang Mook Kang, Chung Choo ChungAbstract:Abstract We propose a torque overlay based robust Steering Wheel Angle control of electric power Steering (EPS) for lateral control using backstepping design. The main contribution of this paper is that the proposed method is designed based on torque overlay and that the global uniform ultimate boundedness of the Steering Wheel Angle tracking error is guaranteed using only Steering Wheel Angle feedback with external disturbances. The key idea is to make the EPS dynamics be simplified. Then, the external disturbances, system function, and input gain uncertainty are regarded as a disturbance. An augmented observer is designed to estimate the full state and the disturbance. A nonlinear damping controller is developed via backstepping to suppress a position tracking error using input-to-state stability property. The proposed method uses only Steering Wheel Angle feedback and nominal value of the input gain. The proposed method is simple to implement in real-time control and robust to the parameter uncertainties and the external disturbances. Since the proposed method is designed based on torque overlay as add-on type, it can be integrated with the conventional EPS system facilitating driver's intervention.
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Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
Journal of Institute of Control Robotics and Systems, 2015Co-Authors: Wonhee Kim, Young Seop Son, Chung Choo ChungAbstract:In this paper, we develop a sliding mode control for Steering Wheel Angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power Steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the Steering Wheel Angle. The sliding mode Steering Wheel Angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the Steering Wheel Angle control is available for the driver’s convenience. The performance of the proposed method was validated via experiments.
Zachariah C. Alex - One of the best experts on this subject based on the ideXlab platform.
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Implementation of Steering Wheel Angle sensor system with Controlled Area Network
2017 International Conference on Intelligent Computing Instrumentation and Control Technologies (ICICICT), 2017Co-Authors: Susan Zacharia, Tony George, Elizabeth Rufus, Zachariah C. AlexAbstract:This Steering Wheel Angle sensor is most important component in automotive vehicle. For +/− 720°-degree rotation measurement of Steering Wheel need a special design, since conventional sensors measuring Angle of rotation can measure only 360°. The Steering Wheel Angle has to be resolved over the complete range at any time and the data should be available to the other subsystems which use this Angle data available immediately after the system power on. In this paper describe a Steering Angle Sensor for a +-720° (a total of 4 complete turns) acquisition with the application of Giant Magnetic Resistance (GMR) sensors. For control tasks and further applications, the Angle data need to be provided over a Binary Unit System (BUS) like Controlled Area Network to other system participants. This set-up provides reliable and fast Angle values.
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Design and Development of Labview Based Steering Wheel Angle Sensor System
International journal of engineering and technology, 2015Co-Authors: Tony George, Susan Zacharia, Elizabeth Rufus, Zachariah C. AlexAbstract:Conventional Angle sensors can measure only 360°,but passenger car Steering Wheel turns through +/-720 (a total of 4 complete turns). In this paper we describe iGMR based Steering Wheel Angle sensor implementation which can be used as a rotation sensor to measure +/720°. KeywordSteering Wheel Angle Sensor, IGMR, Angle Sensor, GMR.
Jürgen Gruber - One of the best experts on this subject based on the ideXlab platform.
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Steering Wheel Angle SENSOR FOR VEHICLE DYNAMICS CONTROL SYSTEMS
SAE Technical Paper Series, 1997Co-Authors: Jürgen GruberAbstract:This paper describes Steering Wheel sensors for vehicle dynamics control systems. It basically compares two types of sensors. The first one uses a digital measuring principle, while the second one currently under development, uses an analog measuring principle.