로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제4권2호
  • /
  • Pages.88-96
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  • 2009
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지

회전행렬과 쿼터니언에 근거한 비행체 제어기 설계

Controller Design for Aircraft Based on Rotational Matrix and Quaternion

  • Ham, Woon-Chul (Chonbuk National University, Division of Electronics and Information Engineering) ;
  • Khurelbaatar, Ts. (Chonbuk National University, Division of Electronics and Information Engineering)
  • 투고 : 2009.02.09
  • 심사 : 2009.04.10
  • 발행 : 2009.05.29
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초록

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

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참고문헌

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