Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204361
A. Alrawi, Saadi A. Alobaidi, S. Graovac
This paper proposing a new design to improve sliding mode controller by employing an Adaptive Exponential Gain (AEG) for reducing the unwanted chattering phenomenon. The chattering reduction is achieved by using a new gain function of states feedback system combined with Conventional Sliding Mode Controller (CSMC). The value of the gain is calculated based on the value of the system states; so that a new value of sliding mode controller (SMC) gain always depending on the system stats as the corrective control term instead of discontinuous sign function. In SMC the amplitude of chattering is proportional to the magnitude of discontinuous control, this worrying issue can be handled if the magnitude of the control signal is reduced to a minimal value defined by exist of the conditions for the SMC. The application of this methodology AEG enables for reducing the control signal magnitude to the minimum possible value maintenance the property of SMC. The AEG algorithm shows an efficient reduction in system chattering as comparison between it and existing methods Super Twisting Algorithm (STW), used to treatment of chattering phenomenon. Moreover, the new algorithm is more robust, accurate and high responses to external noise and any change in system parameters.
{"title":"Robust adaptive gain for suppression of chattering in sliding mode controller","authors":"A. Alrawi, Saadi A. Alobaidi, S. Graovac","doi":"10.23919/ICCAS.2017.8204361","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204361","url":null,"abstract":"This paper proposing a new design to improve sliding mode controller by employing an Adaptive Exponential Gain (AEG) for reducing the unwanted chattering phenomenon. The chattering reduction is achieved by using a new gain function of states feedback system combined with Conventional Sliding Mode Controller (CSMC). The value of the gain is calculated based on the value of the system states; so that a new value of sliding mode controller (SMC) gain always depending on the system stats as the corrective control term instead of discontinuous sign function. In SMC the amplitude of chattering is proportional to the magnitude of discontinuous control, this worrying issue can be handled if the magnitude of the control signal is reduced to a minimal value defined by exist of the conditions for the SMC. The application of this methodology AEG enables for reducing the control signal magnitude to the minimum possible value maintenance the property of SMC. The AEG algorithm shows an efficient reduction in system chattering as comparison between it and existing methods Super Twisting Algorithm (STW), used to treatment of chattering phenomenon. Moreover, the new algorithm is more robust, accurate and high responses to external noise and any change in system parameters.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123111654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204436
K. S. Ong, Wen Hao Png, H. S. Lin, C. Pua, Faidz Abd Rahman
In this paper, a simple fabricated and low cost acoustic vibration sensor based on macro-bend coated single-mode fiber (SMF-28) is proposed and developed. The fiber optic sensor comprises of a bending structure and the macro-bending loss was employs as the sensing mechanism for the detection of leakage of pipeline at low frequency. The measurement system involving the proposed fiber sensor is presented and investigated. Through this system, the fiber sensor is characterized by measuring the power loss corresponding to the vibration at various bending radius and number of wrapping turns. Furthermore, the proposed fiber sensor is also implemented in field test (water pipeline) and it is able to detect vibrations at the frequency range of 20 Hz to 2500 Hz.
{"title":"Acoustic vibration sensor based on macro-bend coated fiber for pipeline leakage detection","authors":"K. S. Ong, Wen Hao Png, H. S. Lin, C. Pua, Faidz Abd Rahman","doi":"10.23919/ICCAS.2017.8204436","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204436","url":null,"abstract":"In this paper, a simple fabricated and low cost acoustic vibration sensor based on macro-bend coated single-mode fiber (SMF-28) is proposed and developed. The fiber optic sensor comprises of a bending structure and the macro-bending loss was employs as the sensing mechanism for the detection of leakage of pipeline at low frequency. The measurement system involving the proposed fiber sensor is presented and investigated. Through this system, the fiber sensor is characterized by measuring the power loss corresponding to the vibration at various bending radius and number of wrapping turns. Furthermore, the proposed fiber sensor is also implemented in field test (water pipeline) and it is able to detect vibrations at the frequency range of 20 Hz to 2500 Hz.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133788326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204454
B. Klongratog, A. Srongprapa, Padet Mannaramit, Mongkol Leelaphaiboon
There are a number of factors that affect the quality control of an osmotic product. One of these is the concentration of the osmotic solution. There are several ways to measure solution concentration, such as optical measurement method, freezing point temperature measurement method, wave principle measurement method, viscosity and specific gravity measurement method. Saline solution concentration of the osmotic solution based on contact angle. The experiments showed whenever the saline solution concentration increased, the contact angle measured on the acrylic substrate increased as well. Their relation is also the linear correlation. Lastly, the developed software evaluated the saline solution concentration based on the contact angle close to the prepared saline solution concentration. The measured concentration was linear correlation with R-squared value of 0.996 that can be accurately applied on concentrations of 5% to 30% with maximum error of 4.72%.
{"title":"Saline solution concentration measurement based on contact angle approach","authors":"B. Klongratog, A. Srongprapa, Padet Mannaramit, Mongkol Leelaphaiboon","doi":"10.23919/ICCAS.2017.8204454","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204454","url":null,"abstract":"There are a number of factors that affect the quality control of an osmotic product. One of these is the concentration of the osmotic solution. There are several ways to measure solution concentration, such as optical measurement method, freezing point temperature measurement method, wave principle measurement method, viscosity and specific gravity measurement method. Saline solution concentration of the osmotic solution based on contact angle. The experiments showed whenever the saline solution concentration increased, the contact angle measured on the acrylic substrate increased as well. Their relation is also the linear correlation. Lastly, the developed software evaluated the saline solution concentration based on the contact angle close to the prepared saline solution concentration. The measured concentration was linear correlation with R-squared value of 0.996 that can be accurately applied on concentrations of 5% to 30% with maximum error of 4.72%.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130613386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204441
A. Safdar, Muwahida Liaquat, Waqar Ali, Faiza Nawaz
This paper investigates cooperative output regulation for the leader-following formation problem of multirobot system. For leader-following formation (LFF) problem a distributed design approach is proposed using luenberger observer and distributed observer. The designed approach enables the robots to track the reference signal generated by the leader and also to achieve and maintain the desired formation for any initial condition. The considered exogenous system serves as a leader for the multi-robot formation and provides a driving forces for the robot formation. The dynamics of the exogenous system are different among the robots. In view of time varying interaction between robots, one case of fixed network topology and two cases of switching network topologies are considered to describe the multirobot network relationship. The theoretical results are verified through numerical simulations of four nonholonomic robots. The simulation highlights that the robots are maintaining their formation and also tracking the trajectory of the leader robot under fixed and switching topologies of the network.
{"title":"Leader-following formation control of nonholonomic robots with switching network topologies","authors":"A. Safdar, Muwahida Liaquat, Waqar Ali, Faiza Nawaz","doi":"10.23919/ICCAS.2017.8204441","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204441","url":null,"abstract":"This paper investigates cooperative output regulation for the leader-following formation problem of multirobot system. For leader-following formation (LFF) problem a distributed design approach is proposed using luenberger observer and distributed observer. The designed approach enables the robots to track the reference signal generated by the leader and also to achieve and maintain the desired formation for any initial condition. The considered exogenous system serves as a leader for the multi-robot formation and provides a driving forces for the robot formation. The dynamics of the exogenous system are different among the robots. In view of time varying interaction between robots, one case of fixed network topology and two cases of switching network topologies are considered to describe the multirobot network relationship. The theoretical results are verified through numerical simulations of four nonholonomic robots. The simulation highlights that the robots are maintaining their formation and also tracking the trajectory of the leader robot under fixed and switching topologies of the network.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130791776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204263
Chan-Yeong Kim, W. Ra, I. Whang
A new biased proportional navigation guidance law considering the missile's dynamic lag is proposed to control the impact angle. The homing guidance loop having the first-order dynamic lag is modeled as the confluent hyper-geometric differential equation and its analytic solution is derived. In consequence, the guidance law reduces to finding an appropriate biased acceleration command which satisfies the given terminal constraints. A systematic way to determine the time-varying biased terms is devised based on the closed-form homing trajectory. In comparison with the existing homing guidance laws, the proposed method could improve the impact angle control performance.
{"title":"Time-to-go rational function biased PN guidance law for precise impact angle","authors":"Chan-Yeong Kim, W. Ra, I. Whang","doi":"10.23919/ICCAS.2017.8204263","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204263","url":null,"abstract":"A new biased proportional navigation guidance law considering the missile's dynamic lag is proposed to control the impact angle. The homing guidance loop having the first-order dynamic lag is modeled as the confluent hyper-geometric differential equation and its analytic solution is derived. In consequence, the guidance law reduces to finding an appropriate biased acceleration command which satisfies the given terminal constraints. A systematic way to determine the time-varying biased terms is devised based on the closed-form homing trajectory. In comparison with the existing homing guidance laws, the proposed method could improve the impact angle control performance.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132582730","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204240
Kentaro Saito, Huimin Lu, J. Tan, Hyoungseop Kim, A. Yamamoto, S. Kido, M. Tanabe
Segmentation of liver from Multi-phase CT images is one of the essential technology for computer aided diagnosis. Contrast medium gives multi-phase CT images different intensity feature which enables to detect tumor. It is a challenging problem to segment liver region from multi-phase CT images. There are many approaches for solving this problem, however, these methods depend on other phases or registration. In order to solve this problem, we propose anatomy feature-based method which is mostly independent for each phase in this paper. This method uses level set method for final segmentation. The accuracy of segmentation result by level set methods relay on initial contour, so we preprocess initial region of liver by anatomical feature. Then we introduced contour constrain by using ribs information to improve segmentaion accuracy. Our segmentation was evaluated on 5 multi-phase CT images which have 4 phases. Experimental results show that the proposed method is good accuracy for each phase.
{"title":"Automatic liver segmentation from multiphase CT images by using level set method","authors":"Kentaro Saito, Huimin Lu, J. Tan, Hyoungseop Kim, A. Yamamoto, S. Kido, M. Tanabe","doi":"10.23919/ICCAS.2017.8204240","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204240","url":null,"abstract":"Segmentation of liver from Multi-phase CT images is one of the essential technology for computer aided diagnosis. Contrast medium gives multi-phase CT images different intensity feature which enables to detect tumor. It is a challenging problem to segment liver region from multi-phase CT images. There are many approaches for solving this problem, however, these methods depend on other phases or registration. In order to solve this problem, we propose anatomy feature-based method which is mostly independent for each phase in this paper. This method uses level set method for final segmentation. The accuracy of segmentation result by level set methods relay on initial contour, so we preprocess initial region of liver by anatomical feature. Then we introduced contour constrain by using ribs information to improve segmentaion accuracy. Our segmentation was evaluated on 5 multi-phase CT images which have 4 phases. Experimental results show that the proposed method is good accuracy for each phase.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130222780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204305
Pornthiwa Choomkasien, Peerawat Chomphooyod, D. Banjerdpongchai
This paper focuses on designing model predictive control (MPC) for industrial process with input time delay. The process is typically represented by a first order plus dead time model which is obtained via a step test. The objective of design is to track reference input while control input has to satisfy the bound conditions. MPC utilizes two types of state observers, namely, input-delay observer and state-delay observer. For input-delay model, state consists of only the first order dynamic and the delay term is explicitly embedded in the input to the plant. For state-delay model, the state variable consists of the first order dynamic and the delay term. The formulations of MPC design of these observers are different. To determine optimal control inputs, MPC formulations are converted to quadratic programs with inequality constraints which can be efficiently solved by the active set method. Numerical examples employ the level control loop as a case study and compare the output tracking performance, control input, and the computational time of the proposed design.
{"title":"Design of model predictive control for industrial process with input time delay","authors":"Pornthiwa Choomkasien, Peerawat Chomphooyod, D. Banjerdpongchai","doi":"10.23919/ICCAS.2017.8204305","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204305","url":null,"abstract":"This paper focuses on designing model predictive control (MPC) for industrial process with input time delay. The process is typically represented by a first order plus dead time model which is obtained via a step test. The objective of design is to track reference input while control input has to satisfy the bound conditions. MPC utilizes two types of state observers, namely, input-delay observer and state-delay observer. For input-delay model, state consists of only the first order dynamic and the delay term is explicitly embedded in the input to the plant. For state-delay model, the state variable consists of the first order dynamic and the delay term. The formulations of MPC design of these observers are different. To determine optimal control inputs, MPC formulations are converted to quadratic programs with inequality constraints which can be efficiently solved by the active set method. Numerical examples employ the level control loop as a case study and compare the output tracking performance, control input, and the computational time of the proposed design.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114201736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204329
Muwahida Liaquat, Muhammad Azeem Javaid, Muhammad Saad
This paper presents the design of an output feedback controller (OFBC) for an n-link robot manipulator. This is achieved by using non-linear high gain observer. As measurement noise poses a great difficulty while estimating the system states, as the gain of the observer increases the measurement noise significantly amplified, causing higher steady state error. A non-linear high gain observer is proposed to overcome this problem. Non-linear high gain observer has an advantage over other non-linear state estimating techniques. The estimation of states is achieved with great accuracy and in a very small time. A comparison of linear and non linear high gain observer is also included to show the effectiveness of the proposed scheme.
{"title":"A nonlinear high-gain observer for n-link robot manipulator which has measurement noise in a feedback control framework","authors":"Muwahida Liaquat, Muhammad Azeem Javaid, Muhammad Saad","doi":"10.23919/ICCAS.2017.8204329","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204329","url":null,"abstract":"This paper presents the design of an output feedback controller (OFBC) for an n-link robot manipulator. This is achieved by using non-linear high gain observer. As measurement noise poses a great difficulty while estimating the system states, as the gain of the observer increases the measurement noise significantly amplified, causing higher steady state error. A non-linear high gain observer is proposed to overcome this problem. Non-linear high gain observer has an advantage over other non-linear state estimating techniques. The estimation of states is achieved with great accuracy and in a very small time. A comparison of linear and non linear high gain observer is also included to show the effectiveness of the proposed scheme.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114912237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204297
Zhulin Zhang, Wensheng Yin
Feedforward control is widely applied on active vibration isolation system to attenuate vibration caused by base disturbance. Design of feedforward controller is conventionally based on plant model. Nevertheless, accurate plant model is normally not easy to be obtained. A data-driven feedforward control method is proposed in this paper to tackle this issue. In this method, no accurate plant model is needed and the problem of designing feedforward controller is formulated as a parameter optimization problem. By adopting FIR filter as feedforward controller structure, the parameter optimization problem is proved to be a convex optimization problem. A parameter iteration scheme based on Gauss-Newton algorithm is proposed to solve this parameter optimization problem. Gradient acquisition is achieved by Toeplitz matrix method. Employing certain step size, the optimal solution can be obtained with only one iteration. The proposed data-driven feedforward control method is validated by simulation and experiments. Experiments are conducted on a pneumatic spring active vibration isolation system.
{"title":"Data-driven feedforward control on active vibration isolation system","authors":"Zhulin Zhang, Wensheng Yin","doi":"10.23919/ICCAS.2017.8204297","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204297","url":null,"abstract":"Feedforward control is widely applied on active vibration isolation system to attenuate vibration caused by base disturbance. Design of feedforward controller is conventionally based on plant model. Nevertheless, accurate plant model is normally not easy to be obtained. A data-driven feedforward control method is proposed in this paper to tackle this issue. In this method, no accurate plant model is needed and the problem of designing feedforward controller is formulated as a parameter optimization problem. By adopting FIR filter as feedforward controller structure, the parameter optimization problem is proved to be a convex optimization problem. A parameter iteration scheme based on Gauss-Newton algorithm is proposed to solve this parameter optimization problem. Gradient acquisition is achieved by Toeplitz matrix method. Employing certain step size, the optimal solution can be obtained with only one iteration. The proposed data-driven feedforward control method is validated by simulation and experiments. Experiments are conducted on a pneumatic spring active vibration isolation system.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128515718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204335
Shoichi Sakamoto, Tomoki Tanaka, Hiroshi Okajima, N. Matsunaga
Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as seen in suburbs. In order to expand driving area, the skid steer mechanism is focused on. The skid steer vehicle (SSV) has been used for its high traveling ability on rough road. However, the SSV has disadvantage that the driving assistance is required because its steering is highly affected by road conditions. In this paper, a driving assistance control of SSV using the model error compensator and state estimator, i.e. EKF and cornering power estimator is proposed. The maneuverability is evaluated by correlation coefficient of joystick operation comparing asphalt road and gravel road.
{"title":"Maneuverability evaluation of skid steer welfare vehicle for robust assistance control with model error compensator","authors":"Shoichi Sakamoto, Tomoki Tanaka, Hiroshi Okajima, N. Matsunaga","doi":"10.23919/ICCAS.2017.8204335","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204335","url":null,"abstract":"Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as seen in suburbs. In order to expand driving area, the skid steer mechanism is focused on. The skid steer vehicle (SSV) has been used for its high traveling ability on rough road. However, the SSV has disadvantage that the driving assistance is required because its steering is highly affected by road conditions. In this paper, a driving assistance control of SSV using the model error compensator and state estimator, i.e. EKF and cornering power estimator is proposed. The maneuverability is evaluated by correlation coefficient of joystick operation comparing asphalt road and gravel road.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128518429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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