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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 14, Issue 12 - Dec 2008
Volume 14, Issue 11 - Nov 2008
Volume 14, Issue 10 - Oct 2008
Volume 14, Issue 9 - Sep 2008
Volume 14, Issue 8 - Aug 2008
Volume 14, Issue 7 - Jul 2008
Volume 14, Issue 6 - Jun 2008
Volume 14, Issue 5 - May 2008
Volume 14, Issue 4 - Apr 2008
Volume 14, Issue 3 - Mar 2008
Volume 14, Issue 2 - Feb 2008
Volume 14, Issue 1 - Jan 2008
Selecting the target year
Formation Control of a Group of Underactuated Autonomous Underwater Vehicles
Li, Ji-Hong ; Jun, Bong-Huan ; Lee, Pan-Mook ; Lim, Yong-Kon ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1197~1204
DOI : 10.5302/J.ICROS.2008.14.12.1197
This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle's six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.
Vision Based Estimation of 3-D Position of Target for Target Following Guidance/Control of UAV
Kim, Jong-Hun ; Lee, Dae-Woo ; Cho, Kyeum-Rae ; Jo, Seon-Yeong ; Kim, Jung-Ho ; Han, Dong-In ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1205~1211
DOI : 10.5302/J.ICROS.2008.14.12.1205
This paper describes methods to estimate 3-D position of target with respect to reference frame through monocular image from unmanned aerial vehicle (UAV). 3-D position of target is used as information for surveillance, recognition and attack. In this paper. 3-D position of target is estimated to make guidance and control law, which can follow target, user interested. It is necessary that position of target is measured in image to solve 3-D position of target. In this paper, kalman filter is used to track and output position of target in image. Estimation of target's 3-D position is possible using result of image tracking and information of UAV and camera. To estimate this, two algorithms are used. One is methode from arithmetic derivation of dynamics between UAV, carmer, and target. The other is LPV (Linear Parametric Varying). These methods have been run on simulation, and compared in this paper.
Formation Flight Control of Unmanned Aerial Vehicles Using Model Predictive Control
Park, Jae-Mann ; Shin, Jong-Ho ; Kim, Hyoun-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1212~1217
DOI : 10.5302/J.ICROS.2008.14.12.1212
This paper studies the feasibility of using the nonlinear model predictive control as a formation flight control algorithm for unmanned aerial vehicles. The optimal control inputs for formation flight are calculated through the cost function which incorporates the relative positions of the individual vehicles to maintain a desired formation and also the inequality constraints on inputs and states using the Karush-Kuhn-Tucker conditions. In the nonlinear model predictive control setting, the optimal control inputs are implemented in a receding horizon manner, which is suitable for dealing with dynamic constraints. Numerical simulations are executed for the validation of the proposed scheme.
Adaptive Control Design for Missile using Neural Networks Augmentation of Existing Controller
Choi, Kwang-Chan ; Sung, Jae-Min ; Kim, Byoung-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1218~1225
DOI : 10.5302/J.ICROS.2008.14.12.1218
This paper presents the design of a neural network based adaptive control for missile is presented. The application model is Exocet MM40, which is derived from missile DATCOM database. Acceleration of missile by tail Fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. So, the inner loop consists of DMI and NN (Neural Network) and the outer loop consists of PI controller. In order to satisfy the performances only with PI controller, it is necessary to do some additional process such as gain tuning and scheduling. In this paper, all flight area would be covered by just one PI gains without tuning and scheduling by applying mixture control technique of conventional controller and NN to the outer loop. Also, the simulation model is designed by considering non-minimum phase system and compared the performances to distinguish the validity of control law with conventional PI controller.
Tiltrotor Attitude Control Using L1 Adaptive Controller
Kim, Nak-Wan ; Kim, Byoung-Soo ; Yoo, Chang-Sun ; Kang, Young-Sin ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1226~1231
DOI : 10.5302/J.ICROS.2008.14.12.1226
A design of attitude controller for a tiltrotor is presented augmenting L1 adaptive control, neural networks, and feedback linearization. The neural networks compensate for the modeling error caused by the lack of knowledge of tiltrotor dynamics while the L1 adaptive control allows high adaptation gains in adaptation laws thereby, satisfying tracking performance requirement. The efficacy of this control methodology is illustrated in high-fidelity nonlinear simulation of a tiltrotor by flying the tiltrotor in different flight modes from where the L1 adaptive controller with neural networks is originally designed for.
Sensor Fusion of GPS/INS/Baroaltimeter Using Wavelet Analysis
Kim, Seong-Pil ; Kim, Eung-Tai ; Seong, Kie-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1232~1237
DOI : 10.5302/J.ICROS.2008.14.12.1232
This paper introduces an application of wavelet analysis to the sensor fusion of GPS/INS/baroaltimeter. Using wavelet analysis the baro-inertial altitude is decomposed into the low frequency content and the high frequency content. The high frequency components, 'details', represent the perturbed altitude change from the long time trend. GPS altitude is also broken down by a wavelet decomposition. The low frequency components, 'approximations', of the decomposed signal address the long-term trend of altitude. It is proposed that the final altitude be determined as the sum of both the details of the baro-inertial altitude and the approximations of GPS altitude. Then the final altitude exclude long-term baro-inertial errors and short-term GPS errors. Finally, it is shown from the test results that the proposed method produces continuous and sensitive altitude successfully.
A Study on Flight Trajectory Generations and Guidance/Control Laws : Validation through HILS
Baek, Soo-Ho ; Hong, Sung-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1238~1243
DOI : 10.5302/J.ICROS.2008.14.12.1238
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(
) 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.
Analysis on Flight Test Results of Reconfiguration Flight Control System
Min, Byoung-Mun ; Kim, Seong-Pil ; Kim, Bong-Ju ; Kim, Eung-Tai ; Tahk, Min-Jea ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1244~1252
DOI : 10.5302/J.ICROS.2008.14.12.1244
This paper presents the analysis results obtained by the flight test of reconfiguration flight control system for an aircraft. The reconfiguration flight control system was designed by using control allocation scheme that automatically distributes the demanded control moments determined by control law to each actual control surface. In this paper, some control allocation algorithms for reconfiguration control of general aircraft with redundant control surfaces are summarized and their performance evaluation results through nonlinear simulation and Hardware-In-the-Loop-Simulation (HILS) test are shown. Also, Unmanned Aerial Vehicle (UAV) system adopted as a platform for the flight test of reconfiguration flight controller and the implementation procedure of reconfiguration flight controller into real-time UAV system were introduced. Finally, flight test results were analyzed.
Automatic Landing Guidance Law Design for Unmanned Aerial Vehicles based on Pursuit Guidance Law
Yoon, Seung-Ho ; Bae, Se-Lin ; Han, Young-Soo ; Kim, Hyoun-Jin ; Kim, You-Dan ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1253~1259
DOI : 10.5302/J.ICROS.2008.14.12.1253
This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.
Dynamic Modeling and Robust Hovering Control of a Quadrotor VTOL Aircraft
Kim, Jin-Hyun ; Kang, Min-Sung ; Park, Sang-Deok ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1260~1265
DOI : 10.5302/J.ICROS.2008.14.12.1260
This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.
Integral Sliding Mode Control for Robot Manipulators
Yoo, Dong-Sang ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1266~1269
DOI : 10.5302/J.ICROS.2008.14.12.1266
We propose an integral sliding mode control for robot manipulators guaranteeing that sliding motion exists starting from an initial time. Also, we prove the asymptotic stability for robot manipulators using three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices. From illustrative examples, we show that the proposed method effectively controls for robot manipulators.
Wavelet-based Analysis for Singularly Perturbed Linear Systems Via Decomposition Method
Kim, Beom-Soo ; Shim, Il-Joo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1270~1277
DOI : 10.5302/J.ICROS.2008.14.12.1270
A Haar wavelet based numerical method for solving singularly perturbed linear time invariant system is presented in this paper. The reduced pure slow and pure fast subsystems are obtained by decoupling the singularly perturbed system and differential matrix equations are converted into algebraic Sylvester matrix equations via Haar wavelet technique. The operational matrix of integration and its inverse matrix are utilized to reduce the computational time to the solution of algebraic matrix equations. Finally a numerical example is given to demonstrate the validity and applicability of the proposed method.
Optimization-based Real-time Human Elbow Joint Angle Extraction Method
Choi, Young-Jin ; Yu, Hyeon-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1278~1285
DOI : 10.5302/J.ICROS.2008.14.12.1278
An optimization-based real-time joint angle extraction method of human elbow is proposed by processing the biomedical signal of surface EMG (electromyogram) measured at the center point of biceps brachii. The EMG signal is known as non-stationary (time-varying) signal, but we assume that it is quasi-stationary because a physical or physiological system has limitations in the rate at which it can change its characteristics. Based on the assumption, a pre-processing method to obtain pre-angle values from raw EMG signal is firstly suggested, and then an optimization method to minimize the error between the pre-angle and real joint angle is proposed in this paper. Finally, we suggest the experimental results showing the effectiveness of the proposed algorithm.
Control of Multi-Joint Manipulator Using PD-Sliding Mode
Son, Hyun-Seok ; Lee, Won-Ki ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1286~1293
DOI : 10.5302/J.ICROS.2008.14.12.1286
This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.
Passive RFID Based Mobile Robot Localization and Effective Floor Tag Arrangement
Kim, Sung-Bok ; Lee, Sang-Hyup ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1294~1301
DOI : 10.5302/J.ICROS.2008.14.12.1294
Under passive RFID environment, this paper presents a new localization of a mobile robot traversing over the floor covered with tags, which is superior to existing methods in terms of estimation performance and cost effectiveness. Basically, it is assumed that a mobile robot is traveling along a series of straight line segments, each segment at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, for a given line segment with known starting point, the velocity and position of a mobile robot is estimated using the spatial and temporal information acquired from the traversed tag. Some discussions are made on the validity of the basic assumptions and the localization for the initial segment with unknown starting point. Second, for a given tag distribution density, the optimal tag arrangement is considered to reduce the position estimation error as well as to make easy the tag attachment on the floor. After reviewing typical tag arrangements, the pseudorandom tag arrangement is devised inspired from the Sudoku puzzle, a number placement puzzle. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.
A Study on Design and Validation of Pilot Activated Recovery System to Recover Aircraft Abnormal Attitude, Altitude and Speed
Kim, Chong-Sup ; Kang, Im-Ju ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 12, 2008, Pages 1302~1312
DOI : 10.5302/J.ICROS.2008.14.12.1302
Relaxed Static Stability(RSS) has been applied to improve flight performance of modern version supersonic jet fighters. Flight control systems are necessary to stabilize an unstable aircraft and to provide adequate handling qualities. Also, flight control systems of modern aircraft employ many safety measure to cope with emergency situations such as a pilot unknown attitude flight conditions of an aircraft in night flight-testing. This situation is dangerous because the aircraft can lose if the pilot not take recognizance of situation. The system called the "Pilot Activated Recovery System" or PARS, provided a pilot initiated automatic maneuver capable of an aircraft recoveries in situations of unusual attitudes, speed and altitude. This paper addresses the concept of PARS with AARS(Automatic Attitude Recovery System), ATCS(Automatic Thrust Control System) and MARES(Minimum Altitude Recovery Estimation System), and this control law is designed by nonlinear control law design process based on model of supersonic jet trainer. And, this control law is verified by real-time pilot evaluation using an HQS(Handling Quality Simulator). The result of evaluation reveals that the these systems support recovery of an aircraft unusual attitude and speed, and improve a safety of an aircraft.