Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Study on the Design and Selection of Controller for Two Axial Drone Tracking Robot

2축식 드론 추적 로봇의 제어기 설계 및 선정 방안 연구

  • Seungwoon Park (Department of Mechanical Engineering, Inha University) ;
  • Bo Gyum Kim (Department of Mechanical Engineering, Inha University) ;
  • Chang Dae Park (Department of Mechanical Engineering, Inha University) ;
  • Hyeon Jun Lim (Department of Mechanical Engineering, Inha University) ;
  • Chul-Hee Lee (Department of Mechanical Engineering, Inha University)
  • Received : 2024.07.18
  • Accepted : 2024.08.12
  • Published : 2024.09.01
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Abstract

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

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Acknowledgement

이 논문은 2024년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원을 받아 수행된 연구임 (P0012769, 2024년 산업혁신인재성장지원사업)

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