• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.166-173
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• 2005

A vehicle stability control logic for 4WD hybrid electric vehicle is proposed using the regenerative braking of the rear motor and electronic brake force distribution module. Performance of the stability control logic is evaluated for J-turn and single lane change. It is found from the simulation results that the regenerative braking at rear motor is able to provide improved stability compared with the vehicle performance without my stability control. Additional improvement can be achieved by applying the regenerative braking plus electronic brake farce distribution control. It is expected that the regenerative braking offers additional improvement of the fuel economy as well as the vehicle stability control.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.506-515
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• 2006

This paper studies an intelligent digital control for nonlinear systems with multirate sampling. It is worth noting that the multirate control design is addressed for a given nonlinear system represented by Takagi-Sugeno (T-S) fuzzy models. The main features of the proposed method are that i) it is provided that the sufficient conditions for stabilization of the discrete-time T-S fuzzy system in the sense of Lyapunov stability criterion, which is can be formulated in the linear matrix inequalities (LMIs); and ii) the stability properties of the trivial solution of the digital control system can be deduced from that of the solution of its discretized versions. An example is provided for showing the feasibility of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.903-909
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• 2015

This article presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under saturation of front lateral tire force. Regardless of the use of AFS, the front lateral tire forces can be easily saturated. Under the saturated front lateral tire force, AFS cannot be effective to generate a control yaw moment needed for the integrated chassis control. In this paper, new integrated chassis control is proposed in order to limit the use of AFS in case the front lateral tire force is saturated. Weighed pseudo-inverse control allocation (WPCA) with variable weight is adopted to adaptively use the AFS. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From simulation, the proposed integrated chassis control is effective for vehicle stability control under saturated front lateral tire force.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.201-208
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• 2006

This paper describes the control philosophy of ESP(Electronic Stability Program) which consists of the stability control the fault diagnosis and the fault tolerant control. Besides the functional performance of the stability control, robustness of control and fault diagnosis is focused to avoid the unnecessary activation of the controller. The look-up tables are mentioned to have the accurate target yaw rate of the vehicle and obtained from vehicle tests for the whole operation range of the steering wheel angle and the vehicle speed. The wheel slip control with a design goal of wheel slip invariance is implemented for the yaw compensation and the target wheel slip is determined by difference between the target yaw rate and actual yaw rate. Since the ESP has a high severity level and the robust control is required, the robustness margin for the stability control is determined according to several uncertainties and the robust fault diagnosis is performed. Both computer simulation and test results are shown in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1246-1251
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• 2014

This article presents an optimum yaw moment distribution scheme for a vehicle with electronic stability control (ESC) and active rear steering (ARS). After computing the control yaw moment in the yaw moment controller, it should be distributed into tire forces, generated by ESC and ARS. In this paper, yaw moment distribution is formulated as an optimization problem. New objective function is proposed to tune the relative magnitudes of the tire forces. Weighed pseudo-inverse control allocation (WPCA) is adopted to solve the problem. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From the simulation, the proposed optimum yaw moment distribution scheme is shown to effective for vehicle stability control.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.416-421
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• 1994

Electric Power system is a large scale nonlinear control one. Therefore, nonlinear control is desirable for the stabilizing, and it is thought that to establish an analytical method for optimal control inputs of AVR(automatic voltage regulator) and GOV(governor) is an important subject. In this paper, as a simple case, one-machine infinite-bus electric power model system with GOV is treated under the three kinds of control inputs; (i) fuzzy control input, (ii) linear control input and (iii) no control input. Next, the stability for each case is analyzed, and the three-dimensional stability regions and control responses are evaluated and compared. Finally, it is concluded that the linear control input does not necessarily give a good region and response, and the fuzzy one is better than others.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1069-1074
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• 1989

A discrete-time learning control for robotic manipulators is studied using its pulse transfer function. Firstly, discrete-time learning stability condition which is applicable to single-input two-outputs systems is derived. Secondly, stability of learning algorithm with position signal is studied. In this case, when sampling period is small, the algorithm is not stable because of an unstable zero of the system. Thirdly, stability of algorithm with position and velocity signals is studied. In this case, we can stabilize the learning control system which is unstable in learning with only position signal. Finally, simulation results on the trajectory control of robotic manipulators using the discrete-time learning control are shown. This simulation results agree well with the analytical ones.

• Journal of Power Electronics
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• v.17 no.4
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• pp.983-990
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• 2017

This paper proposes a model predictive control based on the discrete Lyapunov function to improve the performance of power electronic converters. The proposed control technique, based on the finite control set model predictive control (FCS-MPC), defines a cost function for the control law which is determined under the Lyapunov stability theorem with a control error compensation. The steady state and dynamic performance of the proposed control strategy has been tested under a single phase AC/DC voltage source rectifier (S-VSR). Experimental results demonstrate that the proposed control strategy not only offers global stability and good robustness but also leads to a high quality sinusoidal current with a reasonably low total harmonic distortion (THD) and a fast dynamic response under linear loads.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.2085-2086
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• 2006

This paper addresses the problem of stability analysis and control synthesis of a digital fuzzy control systems. The authors shows that the stability properties (in the Lyapunov sense) of a digital fuzzy control system can be deduced from the stability properties of the its approximate discretization in the sufficiently small sampling time.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1126-1131
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• 2007

This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.