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Comparison of Disturbance Observer and recent Methods for 4 Wheel Independent Steering State Space Model |
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Heonjong Yoo, Seong-Gon Choi(Chungbuk National University, Korea) |
| In this study, we designed a disturbance observer (DOB) and linear quadratic Gaussian (LQG) filter for
4-wheel independent steering systems considering a state space model. First, the state space structure of a 4-wheel
independent steering system was defined. Second, a DOB and Kalman filter problem was designed by estimating the
sideslip angle of the 4-wheel state space model. The two design processes were compared based on the estimation results;
the LQG method outperformed the DOB method by changing the Kalman filter gain via the observer and controller
eigenvalue separation principle.
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Disturbance Observer-based Torque Vectoring Control for EVs with Model Uncertainty |
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Seunghyeok Baek, Bumsu Kim, Eunyoung Ko(Kwangwoon University, Korea), Jinsung Kim, Deawoong Hwang(Hyundai Motors, Korea), Juhoon Back(Kwangwoon University, Korea) |
| This paper proposes a disturbance observer-based torque vectoring control technique to address the errors caused by model and environmental uncertainties in the control of electric vehicles. This technique treats the differences between the actual system and the nominal system as disturbances and utilizes a disturbance observer to restore the trajectory of the actual system to that of the nominal system. The proposed controller is validated through simulations.
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Modeling of Crumple Zone for Vehicle Crash Simulation using Multi-Layers Kelvin-Voigt Model with Non-Linear Spring Optimized Using Gravitational Search Algorithm |
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Khisbullah Hudha(National Defence University of Malaysia, Malaysia), zulkiffli Abd Kadir, Noor Hafizah Amer, Alawiyah Hasanah Alawi, Amrina Rasyada Zubir(National Defence University of Malaysia (NDUM), Malaysia) |
| Digest
This study develops a crumple zone model for vehicle crash simulation using a multi-layer Kelvin-Voigt model optimized with the Gravitational Search Algorithm. The innovation lies in representing springs as non-linear elements by considering elastic and plastic stiffness. The model optimizes damping values, elastic and plastic stiffness, and the limit of elastic deformation using GSA. The aim is to enhance crash simulations for better vehicle safety design. Simulation results are compared with crash test data, showing close alignment in deceleration and crumple zone deformation responses.
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Longitudinal Tire Force Estimation of a Robotic Vehicle with Articulated Suspension: An Experimental Model-Based Approach with Localization Using Two GPS Modules |
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Hussein Fouad Mohamed Ali(Hanbat National University- Benha University, Korea), Yurak Lim, Youngshik Kim(Hanbat National University, Korea) |
| Experimental Estimation of Longitudinal Tire Force for a Robotic Vehicle: This research introduces an algorithm for estimating road-tire forces in a robotic vehicle with articulated suspension. Using Kalman filter and dynamic models, it operates in three stages. Initially, the wheel states estimator with Kalman filter determines speed and angular acceleration. Then, wheel torque is estimated via current sensor, calculating longitudinal tire force distribution in the 3rd stage. Results showcase effective state and tire force estimation. For accurate vehicle localization, we used two GPS modules. Experiments applied on a small-scale prototype, yielding accurate state and tire force estimation. |
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Constrained and Unconstrained Non-Linear Control RTGC with DC Motor Based on Sliding Mode Controller |
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Cristian MP Napitupulu, Steven Bandong, Yul Yunazwin Nazaruddin, Parsaulian Ishaya Siregar(Institut Teknologi Bandung, Indonesia) |
| Rising global trade demands efficient cargo seaports, automated with Rubber Tyred Gantry Crane (RTGC). This paper introduces a nonlinear Sliding Mode Controller (SMC) to effectively manage RTGC, accounting for their intricate behavior. By integrating a detailed nonlinear model of the gantry crane with the DC motor model, we design a robust control approach. Simulation results validate the SMC's efficacy in handling various control scenarios, including voltage constraints. |
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Anti-Swing Control in an Underactuated Dual Overhead Crane |
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Shivani Raj(Indian Institute of Technology Guwahati, India), Sandeep Reddy Basireddy(Indian Institute of Technology, Guwahati, India) |
| Overhead cranes are well-known transportation systems used in industrial environments for carrying heavy loads from one location to another. One of the common problems in such systems is the control of the payload swing given their underactuated dynamics. The dual overhead crane is meant to perform the same function yet is meant for carrying heavier loads. Here, the controller design has to account for the coordination amongst both the carts in the crane system. In this paper, an adaptive control strategy is proposed which ensures anti-swing control for the dual overhead crane system. The feasibility of the proposed method is demonstrated via numerical simulations. |
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