• 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.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.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.

• 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 Korean Society of Broadcast Engineers Conference
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• 2012.07a
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• pp.358-360
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• 2012

본 논문에서는 새로운 율모델을 기반으로한 프레임 단위 HEVC 율제어 기법을 제안한다. 기존의 비디오 압축표준과는 달리 HEVC 는 계층 구조를 지닌 쿼드트리 기반 움직임 예측 및 변환 부호화를 수행한다. 본 논문에서는 쿼드트리 계층의 깊이에 따라 신호의 통계적 특성이 매우 달라지는 것은 이용하여 라플라시안 확률 모델을 각 쿼드트리 계층에 독립적으로 이용한 새로운 율모델을 이용한 율제어 기법을 제안한다. 제안방법에서는 계층적 부호화 단위인 CU 를 계층 깊이에 따라 세 가지 카테고리로 분류하고 각 카테고리에 따라 변환 계수에 대한 라플라시안 확률 분포 함수를 율-양자화 모델을 만든다. 제안된 율모델은 특성이 매우 다른 각 CU 깊이에 따라 독립적인 라플라이안 확률 분포 함수를 이용하기 때문에 매우 정확하고 적응적인 비트율 예측이 가능하므로 보다 안정적이고 정확한 율제어가 가능하다. 실험결과는 제안된 율제어 기법이 단일 확률 분포 함수를 사용했을 경우보다 평균 0.16dB 의 PSNR 향상이 있었음을 보여주었으며 제안된 방법은 각 프레임에 대한 목표 비트에 보다 안정적으로 부호화하는 것을 보여주었다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.6
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• pp.2421-2427
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• 2012

This paper is discussed the design on non-linear adaptive attitude controller for quadrotor UAV. Quadrotor UAV featured to have four rotor, required the special controller to compensate for the model parameter uncertainties as the unstable nonlinear system. In this research, we designed the adaptive controller to compensate for the payload changes even though it is changed with industrial applications. Especially, based on the mathematical model of UAV, non-linear adaptive controller is suggested and the stability is verified using the Lyapunov function and finally proved its performance and effectiveness of update laws with various payload by simulation.

• 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 Korea Convergence Society
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• v.8 no.4
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• pp.9-18
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• 2017

UAVs began to be actively applied to so-called 3D jobs, including the autonomous exploration, investigation, mapping, search and rescue, etc. since the mid-2000s. With this global trend, having a precise controllability of the UAV will certainly revolutionize the life of the modern human in the aspect of tremendous applications of the UAV. In the first part, a simplified dynamic model of the UAV identified using system identification techniques is compared with the previously built time-discrete linear model. In the second part, the three parameters of the dynamic model are estimated using the batch and RLS methods. Angular acceleration data of the quadrotor UAV at the hovering maneuver are analyzed and shown to be converging at all time. Also, according to the quadrotor flight data from both experiments and MATLAB simulations, the batch estimation method turns out to be more accurate than the RLS estimation method based on the comparison of final parameter values.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2011.07a
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• pp.169-172
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• 2011

최근 ISO/IEC의 MPEG과 ITU-T의 VCEG이 JCT-VC (Joint Collaborative Team for Video Coding)를 구성하여 HEVC (High Efficiency Video Coding) 차세대 비디오 압축 표준 제정을 위한 작업을 진행 중이다. 과거 압축률이 가장 좋은 것으로 알려진 H.264/AVC 보다 최대 50%까지 부호화 효율 향상을 목표로 하고 있다. HEVC는 H.264/AVC와는 상이한 부호화 구조를 채택하고 있고 작은 크기의 영상뿐만 아니라 크기가 큰 영상까지도 효율적으로 부호화할 수 있도록 설계되고 있다. 예측 및 변환 부호화 과정이 계층적 쿼드트리 구조를 가지며, 특히 변환 부호화는 작은 크기의 변환 블록으로부터 $32{\times}32$ 크기의 변환 블록까지 크게 확장되어 계층적 변환 구조를 이루며 부호화하도록 되어 있다. 본 논문에서는 기존 코덱과는 상이한 부호화 구조를 갖는 쿼드트리 부호화 기반 HEVC 코덱 표준을 위한 율-왜곡 (Rate-Distortion) 모델을 제안한다. 기존의 코덱에서는 부호화되는 기본 단위가 $16{\times}16$로 일정하고, 변환 및 양자화되는 블록의 크기 역시 $4{\times}4$또는 $8{\times}8$ 크기 단위로 그 블록의 크기가 작을 뿐만 아니라 고정된 크기를 사용한다. 따라서 단일 확률 모형을 사용하여 율-왜곡 모델을 만들었으며, 그 정확도 역시 비교적 정확한 결과를 얻었다. 그러나 HEVC에서는 계층적 가변 블록 크기를 갖는 기본 부호화, 예측 및 변환/양자화 기법을 사용하기 때문에 기존의 단일 모델로는 정확한 율-왜곡 모델을 만들어 내기 어렵다. 제안하는 방법은 HEVC의 기본 단위인 CU (Coding Unit)별로 독립적인 확률 모형을 사용하여 율-왜곡모델을 사용하는 것으로 CU의 크기가 가변적이고 CU 내의 텍스처 역시 크기에 따라 매우 다른 특성을 가지고 있기 때문에 단일 모델을 사용하는 것보다 매우 효율적인 것을 실험을 통하여 확인하였다.