• 한국통신학회논문지
• /
• 제39C권1호
• /
• pp.47-59
• /
• 2014

본 논문은 실내 환경에서의 엔터테인먼트 활용을 목적으로 쿼드로터형 비행체를 위한 비전 기반의 궤적 추종제어 시스템을 다룬다. 항공촬영 및 감시 등의 특수임무를 완수하기 위해 자율성이 강조되는 실외 비행체와 비교할 때, 엔터테인먼트를 목적으로 하는 실내 환경에서의 비행체를 위해서는 안정성 및 정밀성이 특히 고려된 호버링 및 궤적추종 기능 등이 요구된다. 이에, 본 논문은 동작생성, 자세추정, 궤적추종 모듈로 구성된 궤적추종 제어시스템을 제안한다. 동작생성 모듈은 매 시간에서의 3차원 자세로 기술되는 동작들에 대한 연속적인 시퀀스를 생성한다. 자세추정 모듈은 비행체에 장착된 원형 링 패턴의 인식을 통해 쿼드로터의 3차원 자세정보를 추정한다. 궤적추종 모듈은 동작생성 모듈과 자세추정 모듈로부터 제공되는 정보를 이용하여 쿼드로터 비행체의 3차원 위치를 실시간적으로 제어한다. 제안된 시스템의 성능은 단일 점 추종, 다점 추종, 곡선궤적 추종에 대한 실험을 통해 평가된다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.128-128
• /
• 2000

An antenna tracking technique, referred to as "step track", is commonly used in communication applications. In this paper, an algorithm to improve the step-tracking technique for satellite tracking is proposed. We suggest a method by which the antenna scans the azimuth, detects the satellite signal without the position information, and points quickly to the direction receiving the signal of peak level. After reaching the peak level, the step-track system maintains enough signal levels to receive satellite broadcasting normally. Performance of the Tracking Algorithm proposed in this paper are verified with simulation.

• 대한기계학회논문집A
• /
• 제20권5호
• /
• pp.1498-1507
• /
• 1996

This paper presents a robust control of a smart flexible structure featured by a piezofilm actuator characterizing its light weght and quick response time. A mathematical governing equation for the proposed structure is derived by employing Hamilton's principle and a state space control model is subsequentrly obtained through modal analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theroy thich has inherent robustness to systme uncertainties is adopted to design a tracking controller for the peizofilm actuator. Using the output informaiton from the tip deflection sensor, a full-order observer is constructed ot estimate state variables for the system. Tracking performances for desired trajectories of sinusoidal amd step functions are evaluated by undertaking both simulation and experimental works.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
• /
• pp.21-24
• /
• 1999

There-have been many control strategies for the enact joint position tracking of flexible manipulators, but direct cartesian space tracking control methods an not developed well. In this paper, we propose a PD control method based on the cartesian error in the end point trajectory tracking. the proposed controller is composed of PD control combined with nonlinear saturation term hut has a very simple form. the effect of this term is continuous suppression of vibration which is induced by the coupling of rigid motion. This control works both on the regulation and on the tracking cases. The performance and validity of this control method is shown by simulation examples.

• Journal of Electrical Engineering and Technology
• /
• 제12권3호
• /
• pp.1299-1306
• /
• 2017

This paper presents a boundary tracking control of an agent. To this end, it is shown that the boundary tracking problem can be reformulated into a robust control of uncertain double integrator first. Then, a disturbance observer (DOB) based control is proposed solving the robust control problem. Unlike the existing results in the literature, the proposed DOB based control requires only the local position measurement of the boundary (not the gradient information). The performance of the proposed control is demonstrated for two cases: the measurement of the boundary is given in a continuous or discrete manner. Finally, it is shown that the proposed control can be used for environmental monitoring as well by showing that the agent follows a level curve of real environmental monitoring data.

• Journal of Power Electronics
• /
• 제11권4호
• /
• pp.464-470
• /
• 2011

In this paper, the feasibility of applying a position sensorless control technique to hybrid electric vehicles (HEVs) is practically evaluated. The proposed position estimator has a straightforward structure with properties that combines the model and the saliency tracking-based rotor position estimation for interior permanent magnet synchronous motors (IPMSMs). The proposed method can be used in the event of sensor loss or sensor recovery to sustain continuity of operations. The developed system takes into account the estimated position transition between two distinct sensorless methods. The transition is enhanced by introducing a synchronized transition algorithm based on a single tracking observer. Extensive experimental results are presented to verify the principles and show a reliable estimation performance over the entire speed range including standstill under 150% load conditions.

• 제어로봇시스템학회논문지
• /
• 제17권1호
• /
• pp.68-71
• /
• 2011

A relationship between reader arrangement and DOP is derived from the geometry matrix of the TDOA-based position tracking system. It is shown that the minimum value of the DOP is affected by the number of readers, arrangement of readers and position of the tag. The relationship is verified through computer simulations for two cases of reader arrangement.

• 전기학회논문지
• /
• 제63권9호
• /
• pp.1245-1247
• /
• 2014

This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.147-149
• /
• 2004

This paper presents a new velocity estimation strategy of a non-salient permanent magnet synchronous motor(PMSM) drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system which has the information of rotor position error. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error to zero. For zero and low speed operation, the PI gains of rotor position tracking controller have a variable structure. The PI tuning formulas are derived by analyzing this control system using the frequency domain specifications such as phase margin and bandwidth assignment.

• 제어로봇시스템학회논문지
• /
• 제6권7호
• /
• pp.544-550
• /
• 2000

Among the several types of 3D display methods the autostereoscopic method has an advantage that we can enjoy a 3D image without any additional device but the method has a disadvantage of a narrow viewing zone so that the moving viewer coannot see the 3D image continuously. This disadvantage can be overcome with the detectioni of viewer's positional movement by head tracking. In this paper we suggest a method of detecting the position of the moving viewer's two eyes by using images obtained through a color CCD camera, The suggested method consists of the preprocessing process and the eye-detection process. Through the experiment of applying the suggested method we were able to find the accurate two-eyes position for 78 images among 80 sample input images of 8 different men with the processing speed of 0.39 second/frame using a personal computer.