• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.87.5-87
• /
• 2001

In the past, we presented the tracking system with one sampling delay. In this paper, first we propose a tracking system with N-th sampling delay, in the case where an input-output pulse transfer function of a plant Z$\_$-N/. Secondly we propose a system configuration converting an input-output pulse transfer function of a plant into Z$\_$-N/ with the inverse system of the plant. Moreover, the proposed tracking system configuration is applied to an actual Ball and Beam system and good results are obtained.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.6
• /
• pp.786-796
• /
• 2014

This paper presents a new approach to design a robust tracking controller for linear time-invariant systems with uncertain time-delay. By introducing the model following control (MFC) structure which consists of two loops in nature, we show that the controller is capable of having a predictive control action and effectively tracking the reference output with a desired transient response as well. Three design techniques to achieve good tracking performance are suggested. It is also analytically shown that the tracking performance of the proposed scheme is more robust than that of typical single-loop feedback structure. An illustrative example is given to compare the tracking performances of the proposed methods with a single loop method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.68.1-68
• /
• 2001

This paper discusses tracking position control of linear actuator that has a time delay. The time delay happens when the process reads the sensor data and sends the control input to the plant located at a remote site in distributed control system. In this thesis, the time delay between the linear actuator and the discrete PID controller has constant value due to buffer device so the time delay can be modeled by Pade approximation but the large position error of the linear actuator is generated by the time delay. Therefore, the Smith predictor is used for tracking position control of the linear actuator with the time delay in order to minimize the effect of the time delay. The experimental and simulation results show that the ...

• Journal of the Semiconductor & Display Technology
• /
• v.10 no.3
• /
• pp.21-28
• /
• 2011

In recent years, owing to the development of the image processing technology, the research to build control system using a vision sensor is stimulated. However, a random time delay must be considered, because it works of a various time to get a result of an image processing in the system. It can be seen as an obstacle factor to a control of visual tracking in real system. In this paper, implementing two vision controllers each, first one is made up PID controller and the second one is consisted of a Smith Predictor, the possibility was shown to overcome a problem of a random time delay in a visual tracking system. A number of simulations and experiments were done to show the validity of this study.

• Journal of the Institute of Convergence Signal Processing
• /
• v.13 no.4
• /
• pp.220-232
• /
• 2012

In this paper, we investigate the correlation result due to the problems of delay tracking and fringe rotation module in the VCS(VLBI Correlation Subsystem). The VCS, FX-type correlator, adopts the delay tracking and fringe rotation module in order to compensate the delay change and fringe phase of wave signal from the radio source by Doppler's effect. The phase of observed data is also compensated by means of delay tracking and fringe rotation in the correlator, but we confirmed that the phase is unstable by applying long integration period of AIPS(Astronomical Image Processing System) rather than correlator. And the delay value of observed data has the errors of several tens nanoseconds than normal case at the analysis of correlation result. In addition, we found that the phase of correlation results is not connected as the unit of FFT-segment because the initial fringe phase at the fringe rotation module is not correctly determined. In this paper, in order to solve these problems, the original direction of 90 degree phase jump is reversely modified when the bit-shift occurred at the delay tracking. And the initial fringe phase at the fringe rotation module is correctly modified by using the initial phase of observed data. In addition, the parameter calculation module was abnormally operated as designed in the fringe rotation. So, the logical program by the VCS is modified so as to calculate the parameters correctly. Through the experiments of correlation processing over the above problems, the modified proposal algorithm is adequately corrected to the data analysis results, so that the experimental results make it clear for us to operate the developed VCS hardware correlator normally.

• Proceedings of the IEEK Conference
• /
• 2002.06e
• /
• pp.157-160
• /
• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.28A no.5
• /
• pp.347-354
• /
• 1991

In this paper, the Automatic Tracking Window(ATW) algorithm is applied to the Generalized Cross-Correlation(GCC) time delay estimation algorithm as a preprocessing. The Linear Prediction(LP) algorithm, which is a pararmetric spectral estimation algorithm, is applied to the time delay estimation. And the ATW, a preprocessing algorithm is applied to this algorithm too. This paper shows that the ATW algorithm attenuates the sidelobes very much and improves the resolution of the timedelay estimation.

• Journal of Sensor Science and Technology
• /
• v.7 no.1
• /
• pp.23-30
• /
• 1998

In this paper, we analyzed the effect of the time delay of the image sensor in the tracking loop of Electro-Optical Tracking System(EOTS). we showed that Smith predictor can greatly improve the stability and various performances of EOTS with time delay. And also, to verify the realistic validity, we executed the experiment in EOTS recently developed, and confirmed the effectiveness in EOTS.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.5
• /
• pp.1-7
• /
• 2011

EOTS(Electro-Optical Tracking System) provides stabilized images while tracking a moving target. The key of geo-pointing is the function that fixes EOTS's sight to a specific position(geo-point) throughout aircraft maneuvers. In this paper, a major error source for the geo-pointing is identified as the transport delay of navigation information, and an augmented Kalman filter is designed to estimate the present attitude of aircraft using delayed navigation information. Simulation results including the presented scheme shows that the error due to the information transport delay reduces under half.

• Journal of Korea Multimedia Society
• /
• v.24 no.12
• /
• pp.1632-1640
• /
• 2021

In order to improve target tracking performance of the conventional electro-optical tracking system (EOTS) in the high speed and high maneuvering vehicle, an EOTS navigation algorithm is proposed, in which an inertial measurement unit(IMU) is included and navigation results of the vehicle are used. The proposed algorithm integrates vehicle's navigation results and the IMU and the time-delay and the scale factor errors are augmented into the integrated Kalman filter. In order to evaluate the proposed navigation algorithm, a land vehicle navigation experiments were performed a navigation grade navigation system, TALIN4000 and a tactical grade IMU, LN-200 and a equipment for roll motion were loaded on the land vehicle. The performance evaluation results show that the proposed algorithm effecting works in high maneuvering environment and for the time-delay.