• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
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• pp.493-496
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• 2003

Recently, Ryu et al. proposed a multiple target DOA tracking algorithm, which has good features that it has no data association problem and simple structure. But its performance is seriously degraded in the low signal-to-noise ratio. In this paper, a measurement fusion method is presented based on ML(Maximum Likelihood), and the new DOA tracking algorithm is proposed by incorporating the presented fusion method into Ryu's algorithm. The proposed algorithm has a better tracking performance than that of Ryu's algorithm, and it sustains the good features of Ryu's algorithm.

• ETRI Journal
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• 제29권5호
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• pp.697-699
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• 2007

Spatiograms are histograms augmented with spatial means and covariances to capture a richer description of the target. We present a particle filtering framework for region-based tracking using spatiograms. Unlike mean shift, the framework allows for non-differentiable similarity measures to compare two spatiograms; we present one such similarity measure, a combination of a recent weighting scheme and histogram intersection. Experimental results show improved performance with the new measure as well as the importance of global spatial information for tracking. The performance of spatiograms is compared with color histograms and several texture histogram methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.48.2-48
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• 2001

This paper deals with robust integral tracking control problem based on Lyapunov method via FL(Feedback Linearization) in order to solve a reference tracking problem of nonlinear system with parameter uncertainties. To overcome a restrictive matching condition the uncertainties is characterized in a suitable form. The design procedure which combine FL and LMIs(Linear Matrix Inequalities) based on Lyapunov method to achieve the robust performance and stability is developed. Finally, the performance of proposed controller is demonstrated via simulation of a linear reference tracking problem in the MLS(Magnetic levitating System).

• International Journal of Precision Engineering and Manufacturing
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• 제4권5호
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• pp.5-14
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• 2003

Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate fer effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking peformance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers, The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.

• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.262-269
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• 2005

Automatic landing of UAVs receives increasing interest these days, with increasing number of the developed UAV systems. In this paper, a glidepath tracking algorithm of the subscale UAV was proposed and the performance was analyzed. Flight data analysis shows that the existing autolanding flight control algorithm has a classical type glidepath control. This paper presents an alternative glidepath tracking strategy based on embedded flight control law. The performance of the proposed strategy was investigated through the TDP(Touch Down Point) error analysis with regard to various flight environment: steady headwind, atmospheric disturbance, communication transfer delay. It was verified that the proposed glidepath tracking strategy can be successfully applied to the practical autolanding of UAV systems.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.296-304
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• 2002

A position tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate effects of friction. The conventional sliding mode controller often has been used as a non-model-based friction controller, but it has a poor tracking performance in high-precision position tracking application since it completely cannot compensate the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the sliding mode control method combined with the friction-model-based observer having tunable structure of the transient response. Then this control scheme has a good transient response as well as the high precise tracking performance compared with the conventional sliding mode control without observer and the control system with similar type of observer. The experiments on the bali-screw drive table with the nonlinear dynamic friction show the feasibility of the proposed control scheme.

• 한국정밀공학회지
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• 제14권10호
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• pp.50-57
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• 1997

A fast tool servo (FTS) for diamond turning improves machining accuracy by quickly compensating relative position errors between the cutter and the workpiece. Therefore, the FTS needs to have large band-width with good tracking performance. Serious hysteresis nonlinearity of PZT actuators used in the FTS, however, deteriorates fast tracking performance. Several types of feedforward hysteresis compensators and feedback controllers are tested to improve tracking performance. Through simulations and experiments, control structure which yields the smallest tracking error is selected. The maximum peak to peak error in tracking a sinusoidal waveform is reduced by one fifth compared to that of a regular PID controller.

• 한국컴퓨터정보학회논문지
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• 제22권7호
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• pp.47-54
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• 2017

Recently, correlation filter based trackers have shown excellent tracking performance and computational efficiency. In order to enhance tracking performance in the correlation filter based tracker, search area which is image patch for finding target must include target. In this paper, two methods to discriminatively represent target in the search area are proposed. Firstly, search area location is estimated using pyramidal Lucas-Kanade algorithm. By estimating search area location before filtering, fast motion target can be included in the search area. Secondly, we investigate multi-channel Local Edge Pattern(LEP) which is insensitive to illumination and noise variation. Qualitative and quantitative experiments are performed with eight dataset, which includes ground truth. In comparison with method without search area estimation, our approach retain tracking for the fast motion target. Additionally, the proposed multi-channel LEP improves discriminative performance compare to existing features.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.177-187
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• 2010

A MTG (Multimode Tracking and Guidance) system is employed to compensate for the limitations of individual seekers such as RF (Radio frequency) or IIR (Imaging Infra-red) and to improve the overall tracking and guidance performance in jamming, clutter, and adverse weather environments. In the MTG system, tracking filter, data association, and data fusion methods are important elements to maximize the effectiveness of precision homing missile guidance. This paper proposes the formulation of a Kalman filter for the estimation of line-of-sight rate from seeker measurements in missiles guided by proportional navigation. Also, we suggest the HPDA (Highest Probability Data Association) and data fusion methods of the MTG system for target tracking in the adverse environments. Mont-Carlo simulation is employed to evaluate the overall tracking performance and guidance accuracy.

• 한국항행학회논문지
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• 제7권1호
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• pp.6-13
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• 2003

본 논문에서는 3GPP HSDPA 모뎀용 비동기식 동기추적회로를 설계하고, 설계된 동기추적회로에 대하여 정상상태 지터 분산과 타이밍 에러의 과도응답 특성을 이론적으로 분석하였다. 우선 AWGN 환경에서의 지터 분산을 펄스성형 필터, 타이밍 오프셋, 신호 대 잡음비, 루프 대역폭에 대한 식으로 유도하였으며, 과도응답 특성 또한 이론적으로 해석하였다. 끝으로 설계된 동기추적회로의 성능을 컴퓨터 시뮬레이션을 통하여 확인하였다.