• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.517-526
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• 2015

This paper presents the results of study for improving the reliability of quadrotor attitude control by applying a multi-sensor along with a data fusion algorithm. First, a mathematical model of the quadrotor dynamics was developed. Then, using the quadrotor mathematical model, simulations were performed using the improved reliability multi-sensor data as the inputs. From the simulation results, we designed a Gimbal-equipped quadrotor system. With the quadrotor in a hover state, we performed experiments according to the angle change of the user's specifications. We then calculated the attitude control data from the actual experimental data. Furthermore, with additional simulations, we verified the performance of the designed quadrotor attitude control system with multiple sensors.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1329-1330
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• 2015

본 논문은 무인항공기의 한 종류인 쿼드로터의 고장허용 제어기를 제안한다. 라그랑지안 방정식을 이용하여 쿼드로터를 모델링하고 인접한 두 로터가 작동하지 않는 경우에 쿼드로터에 작용하는 힘을 고려한다. 두 로터가 작동하지 않는 경우에 몸체의 평형을 유지하기 위한 고장허용 제어기를 제안하고, 리아프노프 정리에 입각하여 제안한 제어기를 입력한 경우 쿼드로터가 점근적으로 안정하게 되는 것을 보인다. 두 로터가 작동하지 않는 쿼드로터에 제안한 제어기를 입력하여 모의실험을 시행하고, 이를 통해 제어기의 우수성을 입증한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.3
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• pp.217-225
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• 2013

Typical quadrotor aircraft use four differential thrust vectors to control the motion. In this study, we design a quadrotor aircraft using collective and cyclic control to improve the shortcomings of existing quadrotor aircraft. The quadrotor aircraft with cyclic control can fly at various attitudes due to the excessive control degrees of freedom. Hence the quadrotor aircraft with cyclic control is suitable as high performance aircraft. In this study, modeling and stability analysis of the quadrotor aircraft have been performed using FLIGHTLAB. LQR control systems were designed using linear models at various flight conditions and verified through nonlinear simulations using MATLAB.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.539-540
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• 2012

최근까지 무인 항공기는 군사적인 목적으로 활용하기 위해 활발하게 연구 되어 왔다. 근래에 들어 레저용, 또는 상업용으로 활용도가 급격히 증대되고 있다. 이에 국내외의 대학 및 연구기간에서 무인항공기의 자동비행 제어시스템을 위한 연구를 활발히 진행되고 있다. 최근 들어 무인항공기로 제어하기가 쉽고 활용도가 높은 쿼드로터 비행체가 각광을 받고 있는데 이미 많은 연구가 진행되어 왔다. 이러한 쿼드로터는 4개의 로터의 속도 제어로 비행체의 위치제어가 가능하다. 쿼드로터의 구조적인 이점으로 제어가 쉬운 반면 바람과 같은 외란에 매우 취약하다는 단점이 있어 실제 위치 제어가 쉽지가 않다. 본 논문에서는 외란(disturbance)에 취약한 쿼드로터의 위치제어를 안정하게 제어하기 위해 비행체의 자세 측정 센서인 관성측정장치(Inertial Measurement Unit)를 만들어 비행체의 자세를 측정 할 수 있도록 하였다. IMU는 자이로(Gyro)와 가속도(Accelerometer) 센서를 융합하여 비행체의 Roll, Pitch, Yaw 자세를 계측할 수 있도록 하였다. 본 논문에서는 일반적인 PID 제어기법을 적용하여 기존의 쿼드로터의 비행체에 대한 제어 성능을 실험을 제시하고자 한다.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1922-1923
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• 2011

본 눈문은 쿼드로터 무인항공기의 모델링 및 제어기 설계에 대해서 논의한다. 라그랑지안 방정식을 이용하여 쿼드로터 무인항공기 시스템을 모델링하며, 실험을 통해 모델 파라미터를 결정한다. 쿼드로터 모델과 구해진 파라미터 값을 PID 제어 기법과 동적표면제어기법을 이용하여 쿼드로터 무인항공기의 제어기를 설계한다. 마지막으로, 모의실험을 통해 PID 제어기와 본 논문에서 제안한 동적표면 제어기의 성능을 비교하고, 제안한 제어기의 우수성을 입증한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.373-381
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• 2020

Quadrotor is simple to model because of the symmetric structure but it has the disadvantage of being relatively sensitive to the external disturbance and system uncertainty. The PID technique applied for the attitude control of quadrotor has been applied comprehensively, but it has a disadvantage that is hard to precise control in the nonlinear system. In this work, a quadrotor attitude control law using the super twisting algorithm is studied, which has robust characteristics against disturbance and system uncertainty. To evaluate the attitude performance by the proposed technique, simulation studies and actual flight tests are carried out, and compared with the conventional PID controller.

• Journal of Advanced Navigation Technology
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• v.20 no.6
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• pp.574-579
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• 2016

Unlike general unmanned aerial vehicles, the quad-rotor is attracting the attention of many people because of simple structure and very useful value. However, as the interest in drones increases, the safety and location of vehicles are becoming more important provide against aviation safety accidents or lost accidents. Therefore, in this paper, we propose a tracking system that stabilizes the model with a simple controller by linearized modeling and grasp tilt angle data from various sensor through the filter. The developed tracking system transmits the position of the quad-rotor in flight to the computer and shows it through the route, so it can check the flight path and various information such as flight speed and altitude at the same time. Then the sensor used in the actual quad-rotor can not measure exact sensor data for disturbance and vibration. So we use sensor fusion of Kalman filter and Complementary filter to overcome this problem and the stability of the quad-rotor hovering is realized by PID control. Through simulation, various information such as the speed, position, and altitude of the quad-rotor were confirmed in real time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.305-316
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• 2014

As avionics and mechanical devices have been developed, the size of unmanned aerial vehicle (UAV) is getting smaller. However, the complicated and accurate missions are provided to the UAV. Among various types of UAVs, quadrotors are widely used for their availability by virtue of simple structure and hovering function. However, the control of quadrotor is highly constrained, because the quadrotor is an under-actuated system which has only 4 actuator inputs. To deal with this under-actuated problem, a new quadrotor model with two more actuators in addition to the 4 propeller inputs is provided to make the system fully-actuated. For the proposed model, a controller is designed using feedback linearization methods. To validate the model and to verify the performance of the proposed controller, numerical simulation is performed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.118-128
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• 2012

The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.219-222
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• 2013

최근 몇 년간 무인항공기(UAV) 시장이 점차 커지면서 군뿐만 아니라 민간, 상업적으로도 무인항공기의 수요가 증가하고 있다. 이에 무인항공기의 한 종류인 에어드론(AR.Drone)을 활용한 실시간 원격 쿼드로터(Quadrotor) 퓨전제어기법을 제안하였다. 특히, 본 논문에서는 아이폰(i-phone) 기반의 제어기법이 아닌, 안드로이드(Android) 기반의 퓨전제어기법을 통하여 에어드론을 실시간으로 원격조정가능하게 했는데, 이는 아이폰 App 개발 시 제공되는 API와 PC 기반의 쿼드로터 제어기법을 퓨전하는 방식으로 쿼드로터의 비행제어와 영상처리를 분리시켜 기존의 방식보다 영상처리 속도를 향상시키는 방식이다. 그리고 제안된 퓨전제어기법의 우수성을 보여주기 위해, 기존의 방식들과 영상처리 속도를 비교분석하였다.