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Chih-Keng Chen

Other affiliations: National Cheng Kung University
Bio: Chih-Keng Chen is an academic researcher from Dayeh University. The author has contributed to research in topics: Control theory & Control system. The author has an hindex of 11, co-authored 46 publications receiving 375 citations. Previous affiliations of Chih-Keng Chen include National Cheng Kung University.

Papers
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Journal ArticleDOI
TL;DR: In this paper, a proportional-valve-controlled pneumatic X-Y table system for position tracking control experiments is presented, where the tracking error from previous stages is used as the correction factor for the next control action.

33 citations

Journal ArticleDOI
TL;DR: In this article, a steady turning motion and roll-angle tracking control for an unmanned bicycle is presented using Lagrange's equations for quasi-coordinates and four holonomic and four non-holonomic constraint equations.
Abstract: This study presents steady turning motion and roll-angle tracking controls for an unmanned bicycle The equations of motion describing the dynamics of a bicycle are developed using Lagrange's equations for quasi-coordinates Pure rolling without slipping constraints between the ground and two wheels are also considered in this model These constraints introduce four holonomic and four non-holonomic constraint equations to the model For the developed bicycle dynamics, one PID and one fuzzy controller that create steering torque are derived to recover the balance of the bicycle from a near-fall state Furthermore, another fuzzy controller is added for controlling the bicycle to a desired roll angle which leads to its steady circular motion The bicycle can track a given roll angle while maintaining its balance The effectiveness of the control schemes is proved by simulation results

30 citations

Journal ArticleDOI
31 Oct 2014-Energies
TL;DR: In this article, a model predictive control (MPC) framework was applied to solve the cruising control problem of a series hydraulic hybrid vehicle (SHHV) under urban and highway driving conditions.
Abstract: This study applied a model predictive control (MPC) framework to solve the cruising control problem of a series hydraulic hybrid vehicle (SHHV). The controller not only regulates vehicle velocity, but also engine torque, engine speed, and accumulator pressure to their corresponding reference values. At each time step, a quadratic programming problem is solved within a predictive horizon to obtain the optimal control inputs. The objective is to minimize the output error. This approach ensures that the components operate at high efficiency thereby improving the total efficiency of the system. The proposed SHHV control system was evaluated under urban and highway driving conditions. By handling constraints and input-output interactions, the MPC-based control system ensures that the system operates safely and efficiently. The fuel economy of the proposed control scheme shows a noticeable improvement in comparison with the PID-based system, in which three Proportional-Integral-Derivative (PID) controllers are used for cruising control.

25 citations

Journal ArticleDOI
TL;DR: In this paper, the authors developed dynamic equations and roll-angle-tracking controller of an unmanned bicycle with rolling-without-slipping contact condition between wheels and ground and implemented a fuzzy-logic controller, which is adaptive to the speed change is implemented to control the bicycle to follow the rollangle commands.
Abstract: This paper presents the development of dynamic equations and roll-angle-tracking controller of an unmanned bicycle. First, the equations of motion and constraints of a bicycle with rolling-without-slipping contact condition between wheels and ground are developed using Lagrange's equations. The equations are then used to implement the simulation of the bicycle dynamics. With the bicycle model, a fuzzy-logic controller, which is adaptive to the speed change is implemented to control the bicycle to follow the roll-angle commands. The controller parameters where fuzzy membership functions are presented by scaling factors and deforming coefficients are optimised using genetic algorithms. Results show that the bicycle can follow the roll-angle command with short time delay and the control structure can adapt to a wide range of speed.

25 citations

Journal ArticleDOI
TL;DR: The proposed strategy optimizes FLCs by keeping the rule-table fixed and tuning their membership functions by introducing the scaling factors (SF) and deforming coefficients (DCs) and the numerical simualtions prove the effectiveness of the proposed structure of the genetic fuzzy controller for the developed bicycle system.
Abstract: Due to its non-holonomic constraints and a highly unstable nature, the autonomous bicycle is difficult to be controlled for tracking a target path while retaining its balance. As a result of the non-holonomic constraint conditions, the instantaneous velocity of the vehicle is limited to certain directions. Constraints of this kind occur under the no-slip condition. In this study, the problem of optimization of fuzzy logic controllers (FLCs) for path-tracking of an autonomous robotic bicycle using genetic algorithm (GA) is focused. In order to implement path-tracking algorithm, strategies for balancing and tracking a given roll-angle are also addressed. The proposed strategy optimizes FLCs by keeping the rule-table fixed and tuning their membership functions by introducing the scaling factors (SFs) and deforming coefficients (DCs). The numerical simualtions prove the effectiveness of the proposed structure of the genetic fuzzy controller for the developed bicycle system.

24 citations


Cited by
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Journal ArticleDOI
01 Nov 2007
TL;DR: The iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed, extending the earlier reviews presented by two of the authors.
Abstract: In this paper, the iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed, extending the earlier reviews presented by two of the authors. The papers includes a general introduction to ILC and a technical description of the methodology. The selected results are reviewed, and the ILC literature is categorized into subcategories within the broader division of application-focused and theory-focused results.

1,417 citations

01 Apr 1996
TL;DR: Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment, in addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.
Abstract: Mechatronics Technology is a growing career field that deals with the integration of mechanical and electronic components managed by control systems. Mechatronics technicians troubleshoot, maintain and repair mechanical equipment controlled by electrical, electronic and computer systems. These types of systems are increasingly used in a wide variety of manufacturing and industrial settings. Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment. In addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.

251 citations

Journal ArticleDOI
TL;DR: A robust wheel slip controller for in-wheel-motors-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is developed, based on a combination of optimal predictive control design and Lyapunov theory.
Abstract: This paper develops a robust wheel slip controller for in-wheel-motors-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems. Based on a combination of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is well addressed. A novel braking torque distribution strategy is also introduced to achieve smooth regulation of the hydraulic pressure, such that pedal pulsating effect of the traditional ABS system can be relieved. By utilizing the larger working range of the hydraulic braking (HB) system and the faster response of the RB system, a better wheel slip control performance can be obtained. Moreover, the torque distributer helps to reach a good compromise between braking distance and the magnitude of the RB torque, which is directly related to the amount of regenerated energy. The effectiveness of the proposed control system has been validated in various simulations.

91 citations

Journal ArticleDOI
TL;DR: In this article, the authors provide a comprehensive literature review on the side-slip angle estimation problem, focusing on the most effective and innovative approaches, as well as the advantages and limitations of each technique.
Abstract: Typical active safety systems that control the dynamics of passenger cars rely on the real-time monitoring of the vehicle sideslip angle (VSA), together with other signals such as the wheel angular velocities, steering angle, lateral acceleration, and the rate of rotation about the vertical axis, which is known as the yaw rate. The VSA (also known as the attitude or “drifting” angle) is defined as the angle between the vehicle’s longitudinal axis and the direction of travel, taking the centre of gravity as a reference. It is basically a measure of the misalignment between vehicle orientation and trajectory; therefore, it is a vital piece of information enabling directional stability assessment, such as in transience following emergency manoeuvres, for instance. As explained in the introduction, the VSA is not measured directly for impracticality, and it is estimated on the basis of available measurements such as wheel velocities, linear and angular accelerations, etc. This work is intended to provide a comprehensive literature review on the VSA estimation problem. Two main estimation methods have been categorised, i.e., observer-based and neural network-based, focussing on the most effective and innovative approaches. As the first method normally relies on a vehicle model, a review of the vehicle models has been included. The advantages and limitations of each technique have been highlighted and discussed.

91 citations

Journal ArticleDOI
TL;DR: The methods used in the design of ABS systems are reviewed, the main difficulties are highlighted and the more recent developments in their control techniques are summarized.
Abstract: Many different control methods for ABS systems have been developed. These methods differ in their theoretical basis and performance under the changes of road conditions. The present review is a part of research project entitled “Intelligent Antilock Brake System Design for Road-Surfaces of Saudi Arabia” In the present paper we review the methods used in the design of ABS systems. We highlight the main difficulties and summarize the more recent developments in their control techniques. Intelligent control systems like fuzzy control can be used in ABS control to emulate the qualitative aspects of human knowledge with several advantages such as robustness, universal approximation theorem and rule-based algorithms.

90 citations