• 한국항공운항학회지
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• 제21권1호
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• pp.23-29
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• 2013

This paper presents a tracking filter of radar beacon system (RBS) for automatic takeoff and landing of an unmanned aerial vehicle. The proposed tracking filter is designed as the decoupled tracking filter to reduce the computational burden. Also, an adaptive estimation method of the measurement error covariance is proposed to provide an improved tracking performance compared to the conventional decoupled tracking filter whenever the accuracy of RBS observations is degraded. 100 times Monte Carlo runs performed to analyze the performance of the proposed tracking filter in case of normal operation and degraded operations, respectively. The simulation results show that the proposed tracking filter provides the improved tracking accuracy in comparison with the conventional decoupled tracking filter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.424-429
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• 1992

A practical adaptive tracking filter for a maneuvering target is proposed in this paper by combining a modified input estimation technique with pseudo-residuals and a decoupled tracking filter in line-of-sight Cartesian coordinate system. Since the adaptive tracking filter has decoupled structure and computes maneuver input estimates for each axis separately, it requires much less computations compared with the coventional tracking filter with MIE technique without degrading performance. Also, since pseudo-measurement noises in line-of-sight Cartesian coordinate system are much less correlated compared with those of inertial Cartesian coordinate system, the proposed tracking filter produces less false alarms or miss detections to improve the performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.125-130
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• 1991

This paper presents a tracking filter using pseudomeasurements in an estimated line-of-sight Cartesian coordinate system(ELCCS) whose x-axis is on the line-of-sight to an estimated target position. A target dynamics model and a measurement equation in the ELCCS are derived first and then a tracking filter in the ELCCS named moving coordinate tracking filter(MCTF) is proposed. It is shown that this MCTF is equivalent to a Kalman filter in the inertial Cartesian coordinate system which is widely used in the target tracking system. By approximating the MCTF for a pseudomeasurement noise and an error covariance matrix in the ELCCS, decoupling of three axes can be achieved. In this case, named decoupled moving coordinate tracking filter(DMCTF), computation time can be drastically reduced by utilizing its parallel structure. Finally, the stochastic properties of the MCTF and DMCTF are presented. Especially, a sufficient condition of nondestabilizing deviation for the DMCTF is proposed. The performance of the MCTF and DMCTF are compared with a conventional Kalman tracking filter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.99-104
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• 1989

A practical filter is suggested for ground-Dasea missile tracking in a capture guidance mode, utilizing angle-only measurements from a passive sensor and its performance is evaluated by a realistic system simulation study. Also suggested is a missile acceleration model that provides inputs to the filter. The suggested filter has a decoupled structure of independent azimuth and elevation channels with efficiency in commutation time and memory requirements.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.478-481
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• 1996

Tracking a target of versatile maneuver recently demands a stable adaptation of tracker, and the multiple model techniques are being developed because of its ability to produce useful information of target maneuver. This paper presents the way to apply the multiple model method in a moving-target and moving-platform scenario, and the estimation and prediction results better than those of single Kalman filter.

• 한국공작기계학회논문집
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• 제18권1호
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• 한국정보통신학회논문지
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• 제21권2호
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• pp.416-422
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• 2017

인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다.