• 전기학회논문지
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• 제68권1호
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• pp.129-139
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• 2019

In order for a gun-launched guided projectile to glide to the maximum range, when to deploy the fin and start flight with guidance and control should be considered in range optimization process. This study suggests a solution to the optimal guidance problem for flight range maximization of the flight model of a guided projectile in vertical plane considering the aerodynamic properties. After converting the nonlinear Multi-Phase Optimal Control Problem to Two-Point Boundary Value Problem, the optimized guidance command and the best fin deployment timing are calculated by the proposed numerical method. The optimization results of the multiple flight rounds with various initial velocity and launch angle indicate that determining specific launch condition incorporated with the guidance scheme is of importance in terms of mechanical energy consumption.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.268-268
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• 2000

In the inspection of the reactor pressure vessel using an underwater mobile robot, we developed a new bi-directional guidance control scheme between an underwater mobile robot and a laser pointer. We imposed fanning to the inclinometer embedded in the mobile robot to improve its transient response, and used heuristic control scheme to reduce accidents when the laser pointer losts the mobile robot. We implemented these algorithms to our reactor vessel inspect ion system and performed a series of experiments.

• International Journal of Railway
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• 제8권1호
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• pp.21-29
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• 2015

This study focuses on the performance enhancement of the levitation and guidance control system in urban and medium-to high-speed magnetic levitation trains. A levitation control system, which is currently being tested in Yeongjongdo, is a single controller that is neither designed nor produced on the basis of redundancy. Hence, vehicular stability and reliability should be improved for the situation in which levitation failure occurs because of a breakdown in a controller during vehicle operation. In addition, the control system should be developed to control electromagnetic levitation considering changes in normal force according to changes in the driving force of the propulsion system.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1085-1091
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• 2014

This paper presents the guidance and control design for automatic carrier landing of a UAV (Unmanned Aerial Vehicle). Differently from automatic landing on a runway on the ground, the motion of a carrier deck is not fixed and affected by external factors such as ship movement and sea state. For this reason, robust guidance/control law is required for safe shipboard landing by taking the relative geometry between the UAV and the carrier deck into account. In this work, linear quadratic optimal controller and longitudinal/lateral trajectory tracking guidance algorithm are developed based on a linear UAV model. The feasibility of the proposed control scheme and guidance law for the carrier landing are verified via numerical simulations using X-Plane and Matlab/simulink.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1238-1243
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• 2008

This paper presents an HILS(Hardware in the Loop Simulations) based experimental study for the UAV's flight trajectory planning/generation algorithms and guidance/control laws. For the various mission that is loaded on each waypoint, proper trajectory planning and generation algorithms are applied to achieve best performances. Specially, the 'smoothing path' generation and the 'tangent orbit path' guidance laws are presented for the smooth path transitions and in-circle loitering mission, respectively. For the control laws that can minimize the effects of side wind, side slip angle($\beta$) feedback to the rudder scheme is implemented. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether via HILS.

• 한국군사과학기술학회지
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• 제16권6호
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• pp.733-738
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• 2013

A guidance kit transforming a general purpose bomb into an air-to-surface gliding bomb was developed. This guidance kit consists of a flight kit and a tail kit. Flight kit contains deployable wing, GPS/INS integrated navigation system, guidance and control system. Also this guidance kit was designed to use neither electrical nor mechanical interface with aircraft, and to increase dramatically the survivabilities of pilot and aircraft with the high accuracy and the mid-range non-powered gliding capability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.601-606
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• 1992

In this paper, we consider an optimal guidance problem with both the terminal impact angle and control constraints in addition to the usual zero miss distance constraint. We first present the optimal solution of the problem for the missile of an arbitrary order, and show that it is a linear combination of a step response and a ramp response of the missile. Therefore the usual practice of using the control obtained by saturating the optimal solution for the case of unlimited control may result in a large terminal miss. A method called the initial command saturation is suggested to reduce this terminal miss, where the control in the initial phase of guidance is forced to be saturated until a certain condition for a guidance variable is met.

• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.240-245
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• 2005

In this paper, planar waypoint guidance synthesis for UAVs using the LQ optimal impact-angle-control guidance law is proposed. We prove that the energy-optimal control problem with the constraint of passing through the waypoints is equivalent to the problem of finding the optimal pass angles on each waypoint of the optimal impact-angle-control law. The optimal pass angles can be obtained as a numerical solution of the simple pass angle optimization problem that requires neither input parameterization nor constraints. The trajectory obtained by applying the optimal impact-angle-control law with these optimal pass angles becomes energy optimal.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권4호
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• pp.307-314
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• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• International Journal of Aeronautical and Space Sciences
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• 제15권2호
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• pp.163-172
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• 2014

This paper proposes a novel guidance law based on the block backstepping sliding mode control and extended state observer (ESO), which also takes into account the autopilot dynamic characteristics of the near space interceptor (NSI), and the impact angle constraint of attacking the maneuvering target. Based on the backstepping control approach, the target maneuvers and the parameter uncertainties of the autopilot are regarded as disturbances of the outer loop and inner loop, respectively. Then, the ESO is constructed to estimate the target acceleration and the inner loop disturbance, and the block backstepping sliding model guidance law is employed, based on the estimated disturbance value. Furthermore, in order to avoid the "explosion of complexity" problem, first-order low-pass filters are also introduced, to obtain differentiations of the virtual control variables. The stability of the closed-loop guidance system is also proven, based on the Lyapunov theory. Finally, simulation results demonstrate that the proposed guidance law can not only overcome the influence of the autopilot dynamic delay and target maneuvers, but also obtain a small miss distance.