• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2000년도 춘계학술대회 논문집(Proceeding of the KOSME 2000 Spring Annual Meeting)
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• pp.11-15
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• 2000

This paper provides a basic study on automatic of a trailer type vehicle which consists of two parts such as a tractor and a trailer Backward moving and parking control is very important to automate this type of vehicle. However it is very difficult to control such their motion since a trailer type vehicle is a non-holonomic system. Therefore in this paper we propose the backward path tracking control algorithm for a trailer type vehicle. And also this paper presents the results of simulation to verify the effectiveness of the proposed control algorithm.

• 한국정보통신학회논문지
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• 제17권9호
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• pp.2139-2144
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• 2013

본 논문에서는 평판안테나를 사용한 저비용, 고효율 추적안테나에 구현에 대한 가능성을 분석하였다. 추적안테나는 4개의 평판안테나, 비교기, 추적수신기, 제어기로 구성된다. 안테나 배열에 따른 입사되는 전파의 세기 및 위상을 분석하였다. 또한 추적수신기에서 출력되는 신호를 분석하여, 추적가능 범위를 제시하였다. 추적수신기는 고각과 방위각 2개의 수신 경로를 설계하여 2개의 경로에서 발생하는 오차를 최소화하였다. 분석결과 -3도~+3도의 추적범위를 가지며, 구현이 가능하다.

• 전자공학회논문지S
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• 제34S권12호
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• 한국지능시스템학회논문지
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• 제20권4호
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• pp.476-482
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• 2010

본 논문에서는 시간에 따라 종방향 속도가 변하는 무인 수중 잠수정의 경로 추적 제어기 설계 방법을 제안한다. 본 논문에서 제안한 경로 추적 제어기는 운동학적 제어기와 동역학적 제어기로 구성된다. 운동학적 제어기는 무인 수중 잠수정이 시간에 따라 속도가 변하는 기준 경로를 따라 가기 위해 종방향 속도와 yaw 각속도를 계산하고, 계산된 값이 동역학적 제어기의 기준 입력 값이 된다. 즉, 동역학적 제어기는 추진력과 회전력을 제어하여 무인 수중 잠수정의 종방향 속도와 yaw 각속도가 운동학적 제어기에서 계산한 값과 일치하도록 설계한다. 이 때 사용한 동역학적 제어기는 무인 잠수정의 옆 미끄럼 속도를 외란으로 가정하고, 종방향 속도와 yaw 각속도를 슬라이딩 모드 제어 기법을 이용하여 설계한다. 한편 설계된 제어기의 안정도 판별을 위해 Lyapunov 방법을 이용하여 제어기의 안정성을 보인다. 마지막으로, 컴퓨터 시뮬레이션을 이용하여 설계된 제어기의 성능을 검증한다.

• Journal of Electrical Engineering and Technology
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• 제8권1호
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• pp.176-182
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• 2013

In this study, we examine the tracking happen in a polyvinyl-chloride-sheathed flat cord (PVCSFC), which is widely used as a distribution cord. The study classifies the bridge current via the formed conductive paths during tracking in the PVCSFC. Further, it attempts to distinguish the characteristics of heat generation and heat transfer by kind of bridge current. When the PVCSFC is in the static state, the bridge currents flow only through the electrolyte bridge. In the case of the carbonized PVCSFC, the bridge currents flow through one or more conductive paths. One is the electrolyte bridge, the other is the bridge that is consisted electrolyte and carbonized insulation. Currents flowing through different conductive paths have different heat generation and transfer characteristics. As the bridge current flowing in the conductive path consisting of electrolyte and carbonized insulation increases, the temperature difference between the surface of the PVCSFC and ambient air also increases correspondingly.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.57-58
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• 2006

A Simulation model is developed to minimize the path tracking errors when the non-circular cutting is done by a VCM(voice coil motor) driven tool. The relationship between PWM(Pulse Width Modulation) duty ratio and velocity of voice coil motor is theoretically derived from combining the circuit equation for the coils and the motion equation for the magnetic rod of the voice coil motor. The path tracking errors are showed differently according to the rotational speed, the number of segments and the control period in digital control. Given a required accuracy in the non-circular cutting, the optimal values for those parameters are determined based on the developed simulation model.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• Current Optics and Photonics
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• 제3권3호
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• pp.210-214
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• 2019

The allowable path-deviation time of aircraft in a free-space optical communication system has been estimated from various trajectories, using different values of aircraft speeds and turn rates. We assumed the existence of a link between the aircraft and a ground base station. First, the transmitter beam's divergence angle was calculated through two different approaches, one based on a simple optical-link equation, and the other based on an attenuation coefficient. From the calculations, the discrepancy between the two approaches was negligible when the link distance was approximately 110 km, and was under 5% when the link distance ranged from 80 to 140 km. Subsequently, the allowable path-deviation time of the aircraft within the tracking-error tolerance of the system was estimated, using different aircraft speeds, turn rates, and link distances. The results indicated that the allowable path-deviation time was primarily determined by the aircraft's speed and turn rate. For example, the allowable path-deviation time was estimated to be ~3.5 s for an aircraft speed of 166.68 km/h, a turn rate of $90^{\circ}/min$, and a link distance of 100 km. Furthermore, for a constant aircraft speed and turn rate, the path-deviation time was observed to be almost unchanged when the link distance ranged from 80 to 140 km.

• 대한기계학회논문집A
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• 제41권7호
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• pp.599-605
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• 2017

무인 자율 주행 차량이 야지 환경에서 안전하게 주행하기 위해서는 차량의 주행 안정성이 반드시 고려되어야 한다. 본 논문에서는 실시간 주행 안정성 분석을 위한 자율 주행 시뮬레이션에 적용되는 경로 추종 제어기를 제시한다. 경로 추종 제어기는 Preview 거리를 사용하여 차량의 지향 각을 제어하고, 요 모멘트 관측기로부터 추정된 외란 모멘트를 보상하여 지향 각 오차와 횡 방향 거리 오차를 감소시킨다. 곡선 경로에서는 곡률을 이용하여 차량의 주행 속도를 결정한다. 대상 차량은 6X6 스키드 조향 차량이기 때문에 6개의 휠에 서로 다른 구동력을 분배하는 방법을 사용하여 주어진 경로를 주행한다. ADAMS에서 모델링 된 차량을 MATLAB과 연동시켜 시뮬레이션하고, 경로 추종 제어기 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.19-24
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• 1992

Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilities include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.