대한임베디드공학회논문지 (IEMEK Journal of Embedded Systems and Applications)

대한임베디드공학회 (Institute of Embedded Engineering of Korea)
권호 표지
DOI QR코드

DOI QR Code

자율 주행 헬리콥터 시스템의 지능 힘제어 응용

Intelligent Force Control Ap plication of an Autonomous Helicopter System

  • 엄일용 (현대중공업) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • 투고 : 2011.04.13
  • 심사 : 2011.06.25
  • 발행 : 2011.10.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.

키워드

참고문헌

  1. D. McLeun, "Automatic flight ControI System", Prentice Hall, 1990.
  2. M. Akesson, E. Gustafson and K. Hedrik, "Control design far a helicopter lab Process", IFAC. 13thTriennial World congress. SanFrancisco, USA. pp. 41-46, 1996.
  3. P. A. Gill, M. Battipede, "A Comparative design of a MIMO neural adaptive rate damping for a nonIinear helicopter model", ESANN'2000 proceedings-European Symposium on Artificial Neural Networks Bruges, pp. 159-164, 2000.
  4. C. Cavalcante, J. Cardoso, J. G. Ramos, O. R. Neves, "Design and Tuning of a Helicopter Fuzzy Controller", 1995. Forth IEEE International Conference on Fuzzy Systems and The Second IEEE International Fuzzy Engineering Symposium, Vol.3 pp. 1549-1554, 1995.
  5. S. H. Jeong and S. Jung, "Novel design and position control ol an omni-directionaI flying automobile(Omni-flymobile)", ICCAS, pp. 2480-2484, 2010.
  6. H. Huang, G. M. Hoffmann, S. L. Waslander, C. J. Tomlin, "Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering", IEEE Cont. on Robotics & Automations, pp. 3277-3282, 2009
  7. 엄일용, 정슬, 석진영, "자율 주행 헬리콥터의 위치 추종 제어를 위한 LQR 제어 및 신경회로망 보상 방식", 제어 로봇 시스템 학회, Vol.11, No.11, pp.930-935, 2005.
  8. I. Y. Eom and Seul Jung, "A novel force tracking control approach to an autonomous unmanned helicopter system", IEEE IROS, pp. 1027-1032, 2005.
  9. S. Jung, T. C. Hsia, "Adaptive force tracking impedance force control of robot far cutting process", IEEE Conference on Robotics and Automations, pp. 1800-1805, 1999.
  10. S. Jung, T. C. Hsia, and R. G. Bonitz, "Force tracking impedance control of robot manipulators under unknown environment", IEEE Trams. on Control Systems Technology, Vol.12, No.2, pp. 474-483, 2004. https://doi.org/10.1109/TCST.2004.824320