• International journal of advanced smart convergence
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• v.12 no.1
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• pp.31-40
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• 2023

This asymed drone controller is indispensable for two components: Guidance and Controller. In which the Ministry of Guidance will receive waypoints from which to form an orbit then combine the data with the current location of the vessel, thereby calculating and also supplying the controller to drive the vehicle to follow the outlined trajectory. This article will use the Line Of Sight (LOS) algorithm to design the Guidance and Controller sets. The result as well as the effectiveness of the controller will be shown through matlab/SIMULINK simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.922-929
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• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of helicopter nonlinear waypoint guidance controller. To generate the flight guidance through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation helicopter model and the designed SDRE controller is applied to the trajectory tracking problems. To validate the designed SDRE controller, the simulation environment of high fidelity helicopter model is developed using three independent computers. This paper focuses on the validation the present SDRE controller through the helicopter waypoint guidance simulation.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.2
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• pp.12-22
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• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of rotorcraft waypoint guidance. To generate the flight trajectory through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation rotorcraft model and the designed SDRE controller is applied to the trajectory tracking problems. To verify the designed guidance law, the simulation environment of high fidelity rotorcraft model is developed using three independent PCs. This paper focuses on the validation of rotorcraft waypoint guidance law which is designed by using SDRE Controller.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.3079-3085
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• 2011

Through Korean Urban Maglev Program started in 2006, an urban maglev train was developed and the demonstration line is under construction as of now in 2011. The target speed of the developed maglev train is 110km/h, and the core technologies for super speed maglev trains over 500km/h are being studied. The propulsion and levitation systems of the super speed maglev train under consideration consist of linear synchronous motors (LSM) and levitation electromagnets which also act as a mover of LSM. In addition, guidance electromagnets are used to ensure stable running on curved tracks during super speed operation. The levitation and guidance control is focused on in this paper. For experimental purpose, a small maglev train is being manufactured, and its levitation and guidance controller is studied. The main task of the controller is to maintain the gap between the corresponding electromagnet and the guideway constantly. In general, measurements of the gap, acceleration and current and so on are utilized, and the gap control is implemented independently for each electromagnet. In this paper, the levitation and guidance system is modelled considering mechanical interactions, and the levitation and guidance controller is proposed based on this model. The developed controller is verified by various simulations using MATLAB/Simulink.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1253-1259
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• 2008

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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.10
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• pp.1924-1934
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• 2011

This paper is concerned with the robustness evaluations of the guidance controller for a bimodal tram which is being developed by the Korea Railroad Research Institute (KRRI). The bimodal tram is an all-wheel steered multiple-articulated vehicle as a new kind of transportation vehicle. This vehicle has to be equipped with an automatic guidance system. In [1], such a controller has been recently proposed. However, since the performance is affected by weight change of the vehicle due to number of the passenger, model parameter uncertainties depending on the state of friction and the elasticity of the tire, and a typhoon, the controller designed must be examined with these conditions. As expected, because the vehicle dynamics is highly nonlinear, for the sake of investigating the robustness of the controller we compose two simulation ways based on the vehicle models which are implemented by the ADAMS and the MATLAB/LabVIEW toolboxes. Different uncertainties and a typhoon disturbance have been considered for the simulation conditions. Simulation results are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.590-595
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• 1992

An integrated guidance scheme for guided weapon system is described in this paper. Against conventional guidance methods, this method combines an autopilot and a guidance law. The controller is designed using LQ regulator whose performance index is different from other optimal guidance laws. Since dynamics of the system is considered in the derivation, the controller performance is improved. By simulation, the suggested method shows better performance in minimum distance sense than conventional guidance schemes such as Bang Bang guidance or Pursuit Guidance. Since the suggested method provides smooth rudder deflection in contrast to the conventional method, the load on a energy source of the system can be greatly lessened.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.15-22
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• 2009

The guidance controller of the conventional aircraft consists of inner-loop (autopilot) and outer-loop (guidance). If the guidance controller can be designed as an integrated guidance and control (IGC), the various advantages exist. The integrated guidance and control formulation can compensate for the effect of autopilot lag. An integrated approach also helps avoid the iterative procedure involved in tuning the guidance and autopilot subsystems, if designed separately. Integrated design is also less susceptible to saturation and stability problems. This paper presents an approach to IGC design for the unpowered air vehicle with the only flaperon using a combination of adaptive output feedback inversion and backstepping techniques. Adaptive neural networks are trained online with available measurements to compensate for unmodeled nonlinearities in the design process.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.333-343
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• 2000

An automatic guidance system for combine was designed to harvest paddy rice by following a predetermined path. The automatic guidance system consisted of DGPS to locate position of combine, a gyro sensor system to measure heading angle, ultrasonic sensors to detect obstacles, a hydraulic system, microcomputer as a controller, and I/O interface system. Hydraulic cylinders and valves were installed to control movement of the combine. The heading angle and the position of the combine, and ultrasonic measurements from edge were used as the inputs of the controller. The operating position of hydraulic cylinder was determined as output of the controller. The automatic guidance system was evaluated at the 45-m straight path by changing the posture of the combine. The average RMS errors were 14.0 cm without offset and 15.0 cm with 1-m offset. The DGPS provided accurate position information within the limited error to guide the combine in the field. The results showed that the automatic guidance system could guide the combine autonomously in the paddy field when the posture of the combine was changed.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.260-265
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• 2011

In this paper, integrated missile guidance and control systems using time-delay control (TDC) are developed. The next generation missile requires that an interceptor hits the target, maneuvering with small miss-distances, and has lower weight to reduce costs. This is possible if the synergism existing between the guidance and control subsystems is exploited by the integrated controller. The TDC law is a robust control technique for nonlinear systems, and it has a very simple structure. The feature of TDC is to directly estimate the unknown dynamics and the unexpected disturbance using one-step time-delay. To investigate the performance of the integrated controller, numerical simulations are performed as the maneuver of the target. The results show that the integrated guidance and control system has a good performance.