• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.88.1-88
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• 2002

$\textbullet$ Introduce $\textbullet$ Basic principle and kinematics model of the AGV $\textbullet$ Design of the guidance system $\textbullet$ Simulation and experimentation $\textbullet$ Conclusion

• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.156-161
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• 1997

In this thesis, based on Genetic Algorithm, a new route search algorithm is presented to search an optimal route between the origin and the destination in intelligent route guidance systems in order to minimize the route traveling time. The proposed algorithm is effectively employed to complex road networks which have diverse turn constrains, time-delay constraints due to cross signals, and stochastic traffic volume. The algorithm is also shown to significantly promote search efficiency by changing the population size of path individuals that exist in each generation through the concept of age and lifetime to each path individual. A virtual road-traffic network with various turn constraints and traffic volume is simulated, where the suggested algorithm promptly produces not only an optimal route to minimize the route cost but also the estimated travel time for any pair of the origin and the destination, while effectively avoiding turn constraints and traffic jam.

• 한국펄프종이공학회:학술대회논문집
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• 한국펄프종이공학회 2002년도 추계학술발표논문집
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• pp.74-80
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• 2002

A mathematical tension model for a moving web in a multi-span web handling system was derived and validated by using a simulator which includes unwinder, driven roller, winder, load cells, controllers, etc. A tension controller was designed to compensate tension disturbances generated by velocity changes of the unwinder and driven roller. From experimental results it was proved that the tension model properly expressed the tension behavior of a moving web for specific conditions. The distributed tension controller designed by using the pole-placement technique compensated the tension disturbances transfered from upsteram tension variation. Interactions between web spans including "tension transfer phenomenon" were clearly confirmed through the study. A mathematical model of lateral motion of a moving web was verified also by using the same experimental apparatus which includes displacement type guidance systems. And a feedforward control strategy was designed for more accurate control of the lateral motion of a moving web, which utilize a measured signal of the lateral displacement of web in a previous span and a more correctly identified mathematical model to estimate the disturbance of lateral motion from the previous span. This approach was turned out to be effective in improving the performance of the guidance system for more wide range disturbances.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.878-886
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• 2012

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.

• 한국항공우주학회지
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• 제43권6호
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• pp.497-506
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• 2015

본 논문은 기동이 없는 이동표적에 대하여 탐색기의 FOV(field-of-view) 및 기동가속도 제한 내에서 충돌각 제어를 위한 복합 유도법칙을 제안한다. 제안하는 유도법칙은 비례 항법(proportional navigation)의 특성을 이용하는 것으로 총 두 단계의 유도 명령을 생성하게 된다. 첫 번째 유도명령은 초기 유도단계에서 표적에 대한 지향각(look angle)을 일정하게 유지하게 하고, 특정한 시선각 조건을 만족하면 두 번째 비례 항법 유도로 전환하여 원하는 충돌각으로 표적을 타격하게 된다. 충돌각 설정을 용이하게 하기 위하여 제한된 유도탄의 성능 조건을 가지고 달성 가능한 최대 충돌각 계산방법을 제시한다. 수치 시뮬레이션을 통해 설계된 유도법칙의 성능 및 실제 유도탄 환경에 대한 적용가능성을 분석한다.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.64-75
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• 2005

The Stratospheric Airship Platform (SAP) has a capability of performing the autonomous and guidance flight to satisfy given missions. To be used as the High Altitude Platforms (HAPs), the capabilities of controlling platform's accurate position and keeping the station point are the most important features. Under this circumstances Autonomous Flight Control System (AFCS) is a critical system and plays a key role in achieving the given requirements and succeeding in missions. In this paper, the design and analysis results of the AFCS algorithms and controller are presented. The brief summary of the AFCS hardware structure is also explained. The autopilot controller and guidance logics were designed based on the linear dynamics of the unmanned airship platform and the full nonlinear dynamics was considered to evaluate and verify their performances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.93-98
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• 1989

This paper describes the application of the recently developed feedback linearization technique to designing a new Command to Line-of-Sight (CLOS) guidance law. We show that the CLOS guidance problem can be formulated as a tracking problem. Then, using the feedback input-output linearization technique, we find a new 3dimensional CLOS guidance law that can assure zero miss distance for a randomly maneuvering target. It sheds light on the feedforward acceleration compensation terms used in the conventional CLOS guidance laws to improve the performance. To illustrate further the significance of our result, simulation results are given.

• 한국항공우주학회지
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• 제50권4호
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• pp.251-257
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• 2022

본 논문에서는 재사용 발사체의 종말 연착륙 구간 비행 제어를 위한 컨벡스 최적화 기반 최소 연료 정밀 착륙 문제를 수립하고 이분탐색을 통해 최단 시간 연착륙 비행궤적을 도출하였다. 계산된 유도 명령 추종을 위해 자세 제어 루프와 구동력 분배 문제를 수립하고 해결함으로 재사용 발사체의 착륙 영역 비행제어계 구조를 완성하였다. 완성된 비행제어계의 착륙 유도성능은 6-자유도 시뮬레이션을 통해 구현되고 분석되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.469-474
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• 1990

The implementation of modern guidance law derived from optimal control theory requires accurate current states of target, for example, position, velocity and acceleration etc. But there is no sensors that measure the target states directly. So they are estimated from measurable data. For atmospheric missile engagement, direct application of the modern guidance laws may result In deterioration of Intercept performance because of poor observability associated with angles only-measurements by passive seeker and homing geometry. In this paper, a trajectory modulation method called "adaptive Intermittent maneuvers" is added to the modern guidance law, so the observability is enhanced and, consequently, improved the intercept performance. The estimation algorithm called "modified gain pseudo-measurement filter" is used for tracking filter. It is assumed that the passive seeker measure the angles between line of sight and Inertial frame. The Monte-Carlo simulation for realistic air-to-air Intercept scenario are conducted to demonstrate the effectiveness of intermittent maneuvers.ermittent maneuvers.