Corrections to “A Study on the Control Method of Lateral Displacement and Yaw Angle in Curved Driving of IRWs System” [Apr 18 Art. no. 0602505]

In above paper, the figures were named incorrectly. The correctly named figures and explanations follow. Fig. 1. shows the magnetic flux density distribution of the motor. As shown in the figure, the magnetic flux densities are concentrated on the lip and bridge portions and are modified to show saturation. Fig. 2. is attached (b) to express the system more clearly. In the case of Fig. 4., the proposed algorithm is modified to more clearly represent and emphasize it. In Fig. 5, the longitudinal displacement part is added to graphically show how the information of the laser sensor is received in order to calculate the yaw angle. Fig. 6. shows the algorithm in more detail, making it easier to understand.