• Journal of Advanced Navigation Technology
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• v.13 no.6
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• pp.813-819
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• 2009

Designing actuator controllers of aircraft, which control aileron, flap, elevator and so on, is quiet difficult, because they have time variant nonlinear mechanical structures and also have many kinds of disturbances which are not been able to model easily. This paper reports about the performance of Fuzzy Auto gain tuning Control algorithm applied unmaned aerial vehicle. Fuzzy Auto gain tuning PID control uses PID control and Fuzzy control, therefore It can be applied very easily and it also has advances of PID control. It can control a unmaned aerial vehicle actuators adaptively even though the designer does not have enough information of plant.

• 전자공학회논문지 IE
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• v.48 no.2
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• pp.19-25
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• 2011

This paper presented neural network modeling method using vehicle data to predict fuel consumption. To acquire data for training and testing the proposed neural network, medium-class gasoline vehicle drove at downtown and parameters measured include speed, engine rpm, throttle position sensor (TPS), and mass air flow (MAF) as input data, and fuel consumption as target data from OBD-II port. Multi layer perception network was used for nonlinear mapping between the input and the output data. It was observed that the neural network model can predict the vehicle quite well with mean squared error was $1.306{\times}10^{-6}$ for the fuel consumption.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.5
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• pp.558-568
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• 2021

The existing underwater vehicle controller design is applied by linearizing the nonlinear dynamics model to a specific motion section. Since the linear controller has unstable control performance in a transient state, various studies have been conducted to overcome this problem. Recently, there have been studies to improve the control performance in the transient state by using reinforcement learning. Reinforcement learning can be largely divided into value-based reinforcement learning and policy-based reinforcement learning. In this paper, we propose the roll controller of underwater vehicle based on Deep Deterministic Policy Gradient(DDPG) that learns the control policy and can show stable control performance in various situations and environments. The performance of the proposed DDPG based roll controller was verified through simulation and compared with the existing PID and DQN with Normalized Advantage Functions based roll controllers.

• 한국전산유체공학회:학술대회논문집
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• 2002.10a
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• pp.88-94
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• 2002

Curved intakes are commonly used from commercial aircraft to military missile. Sound radiation from the intake of air vehicle affects cabin noise, community noise and military detection. In this paper, Sound radiation from curved intake is computed using the high order, high resolution scheme. The generalized characteristic boundary conditions, adaptive nonlinear artificial dissipation model and conformal mapping for high order, high resolution scheme are used. The geometric change of curved intake and the frequency of acoustic source are considered. Two dimensional Euler equations are solved for theses analyses.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.493-500
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• 2018

This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.237-245
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• 2008

We developed a computational method on coupled dynamics of tracked vehicle on seafloor and long flexible pipe. The tracked vehicle is modeled as rigid-body vehicle, and the linked flexible pipe is discretized according to a lumped-parameter model. The equations of motion of the rigid-body vehicle on the soft seafloor are combined with the governing equations of flexible pipe dynamics. Four Euler parameters method is used to express the orientations of the vehicle and the flexible pipe. In order to solve the nonlinear coupled dynamics of vehicle and flexible pipe an incremental-iterative formulation is implemented. For the time-domain integration $Newmark-\beta$ method is adopted. The total Jacobean matrix has been derived based on the incremental-iterative formulation. The interactions between the dynamics of flexible pipe and the mobility of the tracked vehicle on soft seafloor are investigated through numerical simulations in time domain.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.863-867
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• 2011

In this paper, we analyze the characteristic test results of an MR damper for a cruise bus, and we model the nonlinear hysteretic characteristics of the damper using arctangent and polynomial functions. We establish an experimental model of the MR damper according to the input current, and we set the model parameters using the MATLAB Optimization Toolbox. The model is verified via a computer simulation of a full-car model.

• Journal of Power Electronics
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• v.19 no.5
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• pp.1193-1202
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• 2019

A SMPMSM drive system is a typical nonlinear system with time-varying parameters and unmodeled dynamics. The speed outer loop and current inner loop control structures are coupled and coexist with various disturbances, which makes the speed control of SMPMSM drive systems challenging. First, an ultra-local model of a PMSM driving system is established online based on the algebraic estimation method of model-free control. Second, based on the backstepping control framework, model-free adaptive integral backstepping (MF-AIB) control is proposed. This scheme is applied to the permanent magnet synchronous motor (PMSM) drive system of an electric vehicle for the first time. The validity of the proposed control scheme is verified by system simulations and experimental results obtained from a SMPMSM drive system bench test.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.2
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• pp.130-137
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• 2013

In this paper, decoupled controller design for Autonomous Underwater Vehicle(AUV) and its simulated performance test results and Hardware In the Loop Simulation(HILS) results are presented. Control system design is done using the PD control scheme. Stability analysis and step response of closed loop system under uncertain parameter condition are also presented. The results of full coupled nonlinear model simulation show the well applicability of the designed controller. From the results of HILS, we can verify performance of real time processing and implemented hardware for AUV.