In Dynamic Wireless Power Transfer (DWPT), high-frequency noise voltage is applied to both ends of the power transmission coil due to switching noise, which generates a high-frequency current path from the asphalt surface through the ground back to the power source. This results in the generation of common-mode noise, which radiates a large magnetic field. Therefore, this paper focuses on filter design in a circuit configuration using common-mode choke coils and Y-capacitor, which are elements that can reduce switching noise in the power transmission side circuit. It derives a theoretical formula for common-mode voltage with respect to phase shift angle and proposes optimal parameters for common-choke Y-capacitor circuit. As a result in the experiments on proposed optimal parameter, standby loss 2.4W using 3.3nF Y-capacitor was reduced compared to 3.18W not using Y-capacitor when phase shift angle is 90°.

In Dynamic Wireless Power Transfer, it is essential to detect the vehicle, control the switching of the transmission coil, and transmit high power during low coupling to the vehicle. This is because standby loss occurs when power is applied to the transmission coil when the vehicle is not present. Therefore, this paper proposes a method to reduce standby losses and to send high power to the vehicle by using SP-PS circuit and capacitor switching. Consequently, vehicle detection was achieved without additional sensors, standby power loss was reduced by approximately 50% compared to the Double-LCC method, and sufficient receiving power was obtained—although it decreased by about 10% compared to the S-S method in simulations.

Leakage magnetic field is one of the problems of wireless power transfer, which is now used in a variety of situations. Leakage magnetic fields are feared to have adverse effects on the human body and electronic devices and must be for reducing leakage magnetic fields. Passive shielding confines leakage magnetic fields with metal or magnetic materials. Active shielding counteracts leakage magnetic fields by using magnetic fields generated by shielding coils. In this paper, it is shown that the leakage magnetic field can be reduced by shifting the phase of the current flowing in the shielding coil from that of the transfer coil. And it is also shown that the optimum phase difference differs depending on the resonance method and the location of the shielding coil. Phase difference between transfer coil and shieling coil causes leakage magnetic field reduction. The influence of the phase difference between the transfer coil and the receiver coil, and between the shielding coil and the receiver coil is negligible. The phase difference is not necessarily the optimum one to be in the opposite phase. The case of a 600 V input to the transfer coil and a shielding coil installed next to the transfer coil or around the receiver coil is considered. In all cases of S-S, Double-LCC, and LCC-S, leakage magnetic fields can be reduced to about 1 mA/m by adjusting the phase difference between the transfer coil and the shielding coil. The reduction of leakage magnetic field by the phase difference and its optimum value are shown using the theoretical equation and electromagnetic field analysis using the method of moments.

Transmission efficiency is one of the most important characteristics in dynamic wireless power transfer for battery electric vehicles. In this paper, the LCC-LCC compensation topology, which does not require complicated control in a transmission system, is used as the compensation topology. To facilitate laying and maintenance, the transmission system should be as simple as possible in configuration and control. On the other hand, there is no problem even if the receiving side uses a slightly more complicated control than the transmission side. Therefore, on the receiving side, a coupling coefficient is estimated in real time from the voltage and current values measured between the rectifier and the DC/DC converter. Then, maximum efficiency control is achieved by updating the duty ratio of the DC/DC converter to follow the optimum load. The effectiveness of the proposed method was demonstrated through the simulations and experiments.

Typical methods of wireless power transfer are Inductive Power Transfer (IPT) and Capacitive Power Transfer (CPT). Both have different characteristics such as transmission distance, cost, and impact of surrounding foreign matter. In addition, since transmission characteristics differ depending on the circuit. Therefore, in this paper, the design theory for selecting the appropriate circuit and method for various applications is made. The equations for transmission characteristics such as the compensation condition, CC(Constant Current)/CV(Constant Voltage) characteristic, efficiency, optimal load, and output power were calculated. As for compensation condition, it is found that S-P, P-S and P-P for IPT and S-S, S-P and P-S for CPT vary depending on the coupling factor. Substituting specific and impartial values into the calculated equations verified the following. As for the optimal load to achieve maximum efficiency, the value of optimal load in the receiver S is about$\boldsymbol{k}^{\mathbf{2}}$times smaller than the others for IPT, and the value of optimal load in the receiver S and LCL are about$\boldsymbol{k}^{\mathbf{2}}$times smaller than the others for CPT. Therefore, the circuits should be selected according to the value of the load for high efficiency transmission. As for the maximum efficiency, the efficiency does not depend on the transmission method or circuit, since it is the same for all circuits for both IPT and CPT. In terms of output power with voltage source, transmission S for IPT and transmission S and LCL for CPT can get about$\mathbf{1}/\boldsymbol{k}^{\mathbf{2}}$larger power than the other circuits. Regarding the output power with current source, the transmitter P and LCL for IPT and the transmitter P for CPT can get about$\mathbf{1}/\boldsymbol{k}^{\mathbf{2}}$larger power than the other circuits. Therefore, in order to get large power, an appropriate circuit should be selected depending on the type of the transmitter circuit, power source and method of transmission. Based on the above, it was found that LCL in IPT was same characteristic as S, but LCL in CPT was same characteristic as P. From the above, the design theory was made for optimal method and circuit selection by fairly evaluating representative circuits of both IPT and CPT methods under unified conditions.

Coil parameters variation due to manufacturing error or environment causes received power and efficiency decrease in wireless power transfer(WPT). Especially, self-inductance variation causes resonance misalignment, and the system can't maintain ideal characteristics including nominal received power. This paper proposes a power compensation method that controls only the receiving (Rx) side when coil parameters change. By using LCC circuit on the transmitter (Tx) side, wireless communication and power fluctuation due to coil parameter change on the Tx side are eliminated. On the Rx side, the received power is controlled by a DC/DC converter while the resonance misalignment is compensated by a branched capacitor. The proposed method can control the power and compensate the resonance misalignment concurrently. MATLAB Simulink simulation and experimental steady-state measurement results show that power compensation with varying capacitors on the Rx side can improve efficiency by compensating for resonance misalignment.

Several problems remain in the practical application of dynamic wireless power transfer to electric vehicles. It creates the leakage magnetic field that can be bad for people and devices nearby. There are some ways to make the leakage magnetic field smaller, like adding extra coils or materials, but they also add extra weight and cost. This paper proposes a new method to make the far-field leakage magnetic field at 10 m from the reference point smaller without additional equipment. This is a method of reducing the far-field leakage magnetic field by controlling the adjacent power transfer coils in the direction of travel of the power transfer coil that is transmitting power in a double LCC circuit. The currents flowing in the two transfer coils and the receiver coil are derived from the calculation of equivalent circuits considering the coupling between the coils. The effectiveness of the proposed method is confirmed by theoretical calculations using MATLAB and electromagnetic field analysis using Altair FEKO, and it is found that the far-field leakage magnetic field can be reduced below the regulated value without additional equipment.

There have been various types of transmitter coils proposed for dynamic wireless power transfer. This study compared three types of coils: circular (spiral) coil, DD coil, and 85 kHz self-resonant coil. The coil performance was evaluated under an ideal environment on the ground side and after coil embedment in the road, and the characteristics of each coil were clarified. In this study, the allowable current value of the litz wire was evaluated as a constraint condition. The results of the verification using actual coils showed that when the input voltage was increased to around the allowable current value of the litz wire, the 85 kHz self-resonant coil obtained approximately 30 kW of power at the input voltage conversion value of 1160 V. The output power was approximately 8 kW higher than that of the circular coil and the DD coil. It was also found that the circular coil and DD coil showed almost similar power feeding performance when compared.

Dynamic wireless power transfer to electric vehicles is attracting a great deal of attention as a solution to current battery EV issues and a contribution to decarbonization. While there are many challenges for social implementation, the selection of appropriate coils is another important topic. Coils must take into account not only transmission power and efficiency, but also safety, particularly with regard to leakage magnetic fields. In this study, all electrical characteristics of coils were obtained from theoretical equations and compared with electromagnetic field analysis, which showed good agreement. It was found that even a coreless coil can transmit 15.6 kW, 99.1% of the power, below the regulated value of the magnetic field strength. The effects of coil pitch, size, and input voltage on the magnetic field strength are also shown.

Although extensive research has been conducted to design active steering controllers for self-driving vehicles, the cross comparison between those controllers has not been studied much yet. Thus, we developed a benchmark to compare yaw rate control methods by active front steering. Three yaw rate controllers, model predictive control, linear quadratic integral control and yaw moment observer-based control, were compared in terms of four evaluation indices: slew rate of actuator input, emergency performance, robustness against disturbance and stability performance of sideslip angle. The comparison was carried out in simulation environment with a 10 DoF vehicle dynamics model validated by an experiment.

Semi-dynamic wireless power transfer (SDWPT) system is one of the solutions to short driving distance in electric vehicle (EV). This system provides electric power to EVs on the point of stopping. A scheme of sensorless positioning system in SDWPT system via magnetic resonance coupling is proposed in this paper. High transmission efficiency and short vehicular gap position are selected as the final stop position which lead to energy conservation and traffic jam problem reduction. These proposed methods also show more practicality of positioning system for SDWPT system by using command value prediction (CVP) and reinforcement learning algorithm (RLA). Performance of these two proposed method is evaluated by simulations and experiments. The results pointed out that these two proposed methods are able to stop the vehicle at the high transmission efficiency position without any visual sensor.

In the application of in-motion wireless power transfer (WPT) for electric vehicles (EVs), the transmitter coil on the road has to detect the vehicle before the power transmission starts. Search pulse method in a previous study can judge the existence of vehicles by measuring the transmitting-side current and comparing it with the threshold value. However, the design method of the threshold value in a theoretical way has yet to be shown. Here we show a novel calculation method of the threshold value by using the envelope model of the transient response of current. The preciseness of the proposed method was verified by the full-scale experiment and the effectiveness of the detection algorithm improved.

Requirement of large motor torque with limited mounting space for In-wheel-motors (IWMs) expects a geared drivetrain, but the vibration and noise caused by gear collision deteriorates ride comfort. In our previous study, our research group proposed to apply joint torque control using motor-side encoders and additional load-side encoders to geared IWMs and the effectiveness is validated. However, in point of space and costs, the effect of mounting load-side encoders should be investigated carefully. In this paper, joint torque control using both motor-side and load-side encoders is compared with joint torque control using only motor-side encoders. Simulations and experiments demonstrate that load-side encoders make it possible to design controller without vehicle parameters and to reduce the impact of collision sufficiently.

Due to the extremely low temperature of Moon surface at lunar night, lunar rover has suffered from heat leakage along the wire connection between solar battery and rover body. In this paper, a wireless power transfer system has been proposed to transfer energy from solar battery to rover body in order to aovid the heat leakage at lunar night. The solar battery is controlled by a buck converter to be switched between the Maximum Power Point Tracking (MPPT) mode and buck mode to output appropriate amount energy to load and battery in rover body through the wireless power transfer system. The load and battery is connected to the DC bus which is controlled by a DC-DC converter to stabilize the voltage. Based on the experiment results, the whole system efficiency is about 48.7% at 22 W. It has been demonstrated the system efficiency is closely related with system power level due to the power electronics wasted power, and the efficiency can be improved to 62.1% with higher system power at 48.6 W.

Four-wheel steering (4WS) vehicles have superior characteristics in motion performance to two wheel ones by controlling the yaw motion and the sideslip angle. Previous research revealed that electric vehicles (EVs) driven by in-wheel motors (IWMs) can steer without steering actuators (electric power steering, EPS) by utilizing their appropriate alignment, the difference of right and left driving forces and self-aligning torques. In this paper, the system to apply the rear EPS-Iess steering method to 4WS EVs is proposed and 2 ways to realize it are discussed. The one uses the estimation of lateral force, and the other uses a lateral force sensor to measure the precise value and enhance the robustness against the modeling error of the vehicle mass. The effectiveness of the methods are demonstrated by simulations and experiments in the situations of avoiding collisions and changing lanes with a 4WS and four-wheel driving IWMs-EV without a rear EPS.

Capacitive power transfer (CPT) with resonance coupling has various advantages compared with inductive power transfer (IPT) with resonance coupling. There are some difficulties of the circuit design because the circuits in CPT with resonance coupling such as SS and SP topologies are not sufficiently analyzed. Therefore, this paper analyzes the SS and SP topologies based on power factor consideration and presents the design methods for resonant conditions and target load to achieve higher efficiency. Furthermore, theoretical formulas and characteristics of the transmission efficiency and output power in SS and SP topologies of CPT are investigated. The feasibility of theoretical formulas is verified with simulation and experiment.

In wireless power transfer, high voltage can breakdown the resonance capacitor due to magnetic resonance coupling in S/S topology. Then, an open-end coil can be self-resonant with parasitic capacitance and can be maintenance-free for primary-side system even if the coupling is weak. It is necessary for high-power and high-efficiency transfer to reduce the resistance of coils. However, the internal resistance of the coil is not sufficiently low to transfer high power. In this paper, in order to reduce the resistance of the coil, the dielectric property is explored. The experiments demonstrated that the internal resistance of the proposed coil can be reduced by considering the dielectric loss.

Wireless power transfer (WPT) via magnetic resonance coupling has gathered attentions because of its high transmitting efficiency and robustness to misalignment. The efficiency characteristics of the WPT system are expressed by kQ product, which is given by coupling coefficient and quality factors of a transmitter and receiver. However, a conventional measuring method of the kQ product is quite burdensome because it requires to remove the resonance capacitors of the transmitter and receiver and to change connecting points of measuring equipment. In this paper, a simplified measuring method of the kQ product is proposed based on the input impedance of the WPT system. The experiments demonstrate that the proposed method is simple yet effective and the measurement results not only evaluates the maximum transmitting efficiency but also estimates an optimum load condition for designing an efficiency control system.

Electric vehicles (EVs) have an advantage over internal combustion vehicles in that the forces applied to the wheel can be estimated from the wheel velocity and input torque. By exploiting this feature, the authors propose to apply force control, which is often used for industrial robots, to EVs in order to achieve much more human friendly EVs. Many applications of force control for EVs are possible. In this paper, the hand parking assist control is proposed. The position of the vehicle body is adjusted by the human hand outside vehicles. The high backdrivability is achieved by using impedance control and driving force control. External forces applied by human hands and driving forces are estimated by disturbance observer (DOB). Some assist control methods are proposed and the most appropriate one is discussed with simulations by considering road surface change and resolution of wheel resolver. Finally, the effectiveness of the proposed method is demonstrated by an experiment.

A dynamic wireless charging system for electric vehicles (EVs) is expected to extend the limited driving distance of EVs. As the transmitting efficiency changes according to motion of the vehicle in dynamic charging, an efficiency maximization method is important. Previous research has proposed secondary-side efficiency control based on mutual inductance estimation to simplify the ground facilities, which would be installed over long distances. However, the ground facilities have to regulate the primary voltage to achieve maximum efficiency control on the secondary side without signal communication. In this paper, a calculation method of the reference value for maximum efficiency control is proposed using simultaneous estimation of the primary voltage and the mutual inductance on the secondary side to eliminate the need for the primary voltage regulation. Simulations and experiments demonstrate that the proposed method is available for maximum efficiency control on the secondary side.

The differences between electromagnetic induction and magnetic resonant coupling were presented in the first study on electromagnetic resonant coupling. However, there is no clear technical comparison between the two phenomena. Therefore, in this study, four circuits are compared. The transition from typical electromagnetic induction to magnetic resonant coupling is demonstrated. The superiority for a high efficiency and high power transfer across a large air gap and displacement is discussed, where the primary and secondary resonant frequencies are the same. From the discussions, the superiority of magnetic resonant coupling over the other topologies is proposed at large air gap and verified experimentally.

Electric vehicles are an efficient alternative to gasoline-fuelled vehicles, but suffer from limited cruising range and long battery charging time. Wireless power transfer is among the solutions for these problems. By using it, the control of the power converters is essential for achieving high efficiency and desired power to the load at any time. Simultaneous regulation of both power and efficiency on the secondary side of WPT systems has already been proposed in past research. However, such control is still not verified in a dynamic scenario. Therefore, in this paper, the aforementioned control is applied to a dynamic charging scenario. The controllers are based on the online mutual inductance estimation, performed with recursive least square filter by constant trace algorithm. The experimental results show that the proposed control effectively works in dynamic charging.

In-Wheel Motor (IWM) which is a driving system of Electric Vehicles (EVs) is effective for expanding driving range and reducing vehicle weight. However, IWM has not been put in practical use because of a possibility of power lines disconnection. Therefore, we have proposed Wireless In-Wheel Motor (W-IWM) in which Wireless Power Transfer (WPT) is used to remove these lines and to enhance practicability of IWM. Moreover, we have proposed the advanced system of W-IWM which has Lithium-ion Capacitor (LiC) and circuit on its wheel side for dynamic charging. In this paper, a State of Charge (SOC) control of LiC on the wheel side in the advanced system is proposed. By applying the proposed control, the SOC control of the LiC and power management on the wheel side are achieved simultaneously. The proposed control is verified by simulations and experiments.

Atomic Force Microscopy (AFM) is a scanning probe microscope with nanoscale resolution as well as an indispensable device for nanotechnology. Since AFM probe physically touches the sample surface, expectations for sample dynamics measurement are raising. One common measurement mode is force curve measurement. In the force curve measurement, atomic force is detected by the spring constant of the cantilever. In high speed measurement, however, the cantilever oscillates with its resonance frequency and cannot detect the atomic force. This paper proposes novel methods to identify cantilever dynamics and to measure the force curve in high speed using atomic force observer (AFO) and the effectiveness of the proposed measurement method was demonstrated by simulations and experiments. Furthermore, the robustness of the AFO against modeling error is discussed.

Wireless power transfer (WPT) via magnetic resonance coupling provides highly efficient mid-range transmission. Its transmitting power can be controlled using a diode rectifier and a DC-DC converter on the secondary side. Previous research replaces the load and the rectifier circuit with an equivalent load resistance or a fundamental harmonic sine wave voltage source to analyze the charging power of WPT. In such a case however, the effect caused by the rectifier circuit becomes unclear because the harmonic components are neglected. As a result, the theoretical charging power and its true value have an error due to the harmonic current distortion. In this paper, a novel WPT circuit model is proposed for the analysis of the harmonic current distortion on the secondary side. The proposed model uses the secondary voltage as the input variable of transfer functions and makes clear the effect caused by the rectifier circuit. Experiments demonstrate that the harmonic current distortion is increased with the increase in the secondary voltage. These results accord with the analysis using the proposed model and verify the effectiveness of the proposed model.

Transmitting efficiency is able to be controlled by changing the input impedance on the receiving side using a DC-DC converter for static wireless power transfer system. However, the control method has never been applied for dynamic wireless power transfer system where coupling coefficient changes drastically. The information of coupling coefficient is needed constantly to achieve the control. Moreover, the considerations about dynamics of the transmitting circuit and coupling coefficient are necessary in dynamic wireless power transfer system. In this paper, a simple method of coupling coefficient estimation with RLS (Recursive least squares) filter and maximum efficiency control using a PID feedback controller are proposed. The simulation and experimental results of dynamic maximum efficiency control are provided and indicating the effectiveness of the proposed control in a real dynamic wireless power transfer system for EVs.

Electric vehicles (EVs) are very useful but suffer from limited range and long battery charge time. Using wireless power transfer (WPT) allows these issues to be solved. In WPT, the control of the power converters is very important in order to achieve high efficiency and be able to extract the desired power from the source at any time. Until now, it was possible to perform either power control or efficiency control in the secondary side, but not both at the same time. Therefore, the authors propose a novel control for power and efficiency with two converters entirely performed on the secondary side of the wireless system, independently from the primary side. The proposed control allows achieving high transmitting efficiency for the desired power by means of a half active rectifier. Simulations and experiments shows that this method effectively allows achieving high efficiency even when the desired power is varied.

In this paper, a novel dynamic wireless power transfer system is designed for roadway EV powering application. Multiple LCL resonators are parallel connected in a high-power inverter and are turned on/off through vehicle positioning result. Compared to the conventional long-rail manner, firstly, the miniaturized transmitter can greatly reduce the electromagnetic radiation. Secondly, construction costs are significantly reduced due to both the transmitter and receiver do not require ferrite. Finally, the generalized state-space averaging and small signal model are built to analyze both the steady-state and transient response process. Experimental results validate the proposed dynamic model and system performance.

Electrical airplanes (EAs) have become practical in the recent years. Considering the increase of demand on smaller aircraft and the attention to environmental issues, the demand on small EAs is expected to grow in the coming decade. However, the accident rate of small aircrafts is higher than that of larger aircrafts, so ensuring higher safety of EA is very urgent. Modeling and thrust control of EAs have been proposed previously by the authors' research group. However, this model and control method is not suitable when the propeller revolution speed is near and below zero. In this paper, the improved thrust control method based on new EA propeller plant is proposed. This method is necessary for design of airspeed control method, which can be expected to improve the safety of EA. A towing test method which allows plane's dynamical experiment on ground is also proposed. Real flight experiment was the only conventional method test a plane's dynamics. However, the test piece needs to be a complete airplane to conduct a real flight. Moreover, it is impossible to observe the response a particular input without interferes from other factors. The proposed method allows component technology to be tested in dynamical situations. The effectiveness of the proposed methods is verified through simulations and experiments.

Boost converters are used for high voltage supplying, and they generally have to use large capacitors to suppress output voltage variations. However, this characteristic makes the converter system very large. In this paper, three load current feedforward control methods, which are considered an unstable zero, are proposed for the boost converter. The proposed methods suppress voltage variation compared to feedback control methods and enable the converter to reduce output filter capacitor. Simulations and experiments are conducted to show the effectiveness of the proposed methods.

A novel model reference adaptive system based stator resistance estimation algorithm has been proposed in this paper. A new functional candidate is introduced which is positive definite and does not depend on speed information for resistance estimation. This formulation decouples stator resistance and speed estimation in case of a Q-MRAS based sensorless drive. Also, restriction on selection of estimator gains becomes less rigid when the proposed estimator is used for stator resistance compensation in an X-MRAS based drive. Extensive simulation using MATLAB/SIMULINK and experimentation in dSPACE 1104 based laboratory prototype has confirmed the effectiveness of the proposed technique.

In the research field of Energy System for Electric Vehicles (EV), we focus on the application of Supercapacitor(SC), aslo called Ultracapacitor(UC), which is used as an energy storage device. SC has many advantages such as high power density, quick charging and extended lifetime. For higher performance of EV, SC and batteries are combined as Hybrid Energy Storage System (HESS), aiming to realize both high energy density and high power density. In this paper, a three-layer energy management strategy for HESS, with optimized interface for SC bank to DC power bus for EV platform, is proposed. The power sharing method based on converter control and variable frequency decoupling strategy is analyzed. Also the design of experiment platform is introduced. Experimental results validate that this control system is effective.

To achieve fast and accurate positioning control, a controller based on a visual servo employing a multi-rate Kalman filter was implemented and experimentally evaluated. Although a visual servo is expected to achieve robust positioning control by eliminating positional errors due to operation environments, applying visual information to positioning control faces three challenges, namely, lower sampling speed, longer delay, and lower positional accuracy than those possible by using a conventional position encoder. To overcome these problems, a multi-rate Kalman filter with a time-delay compensation technique is employed to combine visual information with encoder-based positional information. Two models describing a positioning-control experimental system using a one-axis linear stage with a camera were investigated to determine the optimum structure of the Kalman filter. Evaluation of the experimental system showed that the designed controller achieves high-precision (±10 µm) positioning control within approximately 10-ms settling time while simultaneously adjusting the environmental positional errors.

Hybrid Energy Storage Systems (HESS), which is commonly used in Electric Vehicles (EV), is a combination of two energy storage devices. Supercapacitors (SC) due to their high charge/discharge rate, high power density, long lifetime in comparison to batteries, and capability of supporting high stress represent an optimal solution for HESS when combining with batteries. In such HESS configuration dc-dc converter is needed. Half-Controlled Converters (HCC) is an excellent solution due to their low cost and similar efficiency in comparison to the most used types of converters. In this paper, a strategy for power distribution between SC and battery, based on current control and a filter decoupling technique is proposed, along with the method to evaluate the decoupling frequency. The proposed strategy overtakes other approaches, such as fuzzy control or neural network, in terms of a faster and less complex implementation.

There are many types of wheelchairs. Users are able to choose suitable wheelchair for their purposes. Power-assisted wheelchairs are one type of wheelchairs, which use both propelling torque from human and output torque from motors for their driving force. To improve assist performance, many assist control systems were proposed. One of conventional assist control, proposed by Seki et al., is designed for motion of traveling in straight line. However, it is difficult for wheelchair users to rotate using conventional assist control. In this paper, a novel two-dimensional assist control for power-assisted wheelchairs is proposed. The proposed assist control system is designed for both straight and rotational motion of wheelchair, therefore, power assist performance in rotating motion is improved compared to conventional system.

Advanced control concepts for electric vehicles assume the correct functioning of sensors. In this contribution the problem of sensor failure detection and isolation in the case of lateral vehicle dynamics of EVs is tackled. The method depends on only basic vehicle parameters and assumes only a single failure in the vehicle system. A single sensor failure can be detected and the false alarm rate is minimized. The approach is based on the parity space method implemented with residual observers. Noise of sensors is taken into account and appropriate bounds in the feature space are derived in order to get a robust fault detection indicator. Simulation results and an experimental setup show the validness of the approach.

Among many vehicle states, body slip angle is one of the most important information for vehicle motion control. Due to the high costs to measure body slip angle with specific devices, it is necessary to investigate estimation methods using existing cheap sensors. From the viewpoint of sensor configuration, gyroscope, steering angle sensor, etc. are often employed for body slip angle estimation; in this research, two pieces of information provided by vision system are also utilized as additional measurements. Nevertheless, the sampling rate of normal camera is much slower compared to the other kinds of onboard sensors; for electric vehicles (EVs), motors' control period is shorter than the sampling time of cameras, which also brings multi-rate issue. Moreover, the time delay caused by image processing is usually too long to be neglected. In this paper, single-rate and multi-rate Kalman filters considering measurement delay are designed for body slip angle estimation, and a body slip angle controller is designed with the estimated result as feedback. First of all, vehicle model and visual model as well as the multi-rate and delay issues are explained; then, single-rate and multi-rate Kalman filters are designed for body slip angle estimation; and then, body slip angle controllers with single-rate and multi-rate estimators are compared followed with simulations and experimental results; finally, conclusion and future works are presented.

An artificial neural network (ANN) based adaptive estimator is presented in this paper for the estimation of rotor speed in a sensorless vector-controlled induction motor (IM) drive. The model reference adaptive system (MRAS) is formed with instantaneous and steady state reactive power. Selection of reactive power as the functional candidate in MRAS automatically makes the system immune to the variation of stator resistance. Such adaptive system performs satisfactorily at very low speed. However, it is observed that an unstable region exists in the speed-torque domain during regeneration. In this work, ANN is applied to overcome such stability related problem. The proposed method is validated through computer simulation using MATLAB/SIMULINK. Sample results from a laboratory prototype (using dSPACE-1104) have confirmed the usefulness of the proposed estimator.

We have suggested a novel statics and force control can be achieved in a more simple way by using the biarticular muscle coordinate. In order to verify these characteristics, a robot arm with two links that are driven by planetary gear is developed in this paper. First, the complicated muscle structure is simplified as a three-pair six-muscle model including the biarticular muscle. Then based on the configuration, statics at the endeffector is redefined and a force control algorithm is suggested. The suggested statics and force control have the advantage of its simplicity. Then a novel robot arm to emulate the biarticular muscle is developed. A planetary gear system is adopted to transfer torque generated by a motor to two joints. Unnecessary coupling caused by the planetary gear is removed by disturbance observer control. Experiments done by the robot arm verifies the effectiveness of the suggested statics and force control.

Control design of self-servo track writer (SSTW) has become an important issue in hard disk drive research. This paper discusses the error propagation problem in SSTW control. Although the iterative learning control (ILC) has been suggested as a solution to suppress the error propagation in SSTW, existing suggestions design controllers in the iteration domain requiring considerable computation and complicated optimization algorithm. For this reason, this paper suggests SSTW control design in the time domain. First, reference correction to suppress the error propagation is suggested based on the error propagation study and a novel reference correction is suggested to control the amount of the converged error. Then, a state space approach is suggested developing a Kalman filter to estimate the absolute head position. The state space based design is extended and provides a formulation for a more general time-domain design of SSTW control.

In this paper, novel multirate controllers are proposed for digital control systems, where it is restricted that the sampling period of plant output is longer than the control period of plant input. The proposed controllers can assure perfect disturbance rejection at M intersample points in the steady state. Moreover, the novel scheme of repetitive control is proposed based on the open-loop estimation and switching function, which enables to reject periodical disturbance without any sacrifice of the feedback characteristics. The proposed methods are applied to the visual servo system, and the advantages of these approaches are demonstrated by simulations.

The paper presents the state of the art of motion systems particularly emphasizing both estimation and identification of parameters and control variables of an electric-motor-driven motion system. In a modern electrical drive system, it is required to take not only the electrical aspect but also the mechanical phase into total system consideration. Improvement in electrical aspect needs a variety of information pertaining to electrical machines and power electronic circuits for improving AC variable-speed drives. Important techniques of identification or estimation of parameters and control variables in AC drives are explained. Such information includes machine parameters, flux, speed, position, and so on. Also, the paper shows that there is some theoretical limit of performance. For improvement of the mechanical phase, the disturbance torque is the most important variable to be identified. It is used in motion control systems, for example, in the feedback loop. Various applications are possible by modification of such a basic approach. As a conclusion, the paper shows that the total robustness is attained by integrating advances of control technique on the electrical aspect and the mechanical aspect. There are numerous variations of controller by possible combinations of these two aspects according to applications.>