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미지 파라미터를 갖는 쿼드로터의 적응 백스테핑 호버링 제어
이근욱(Keun Uk Lee),박진배(Jin Bae Park),최윤호(Yoon Ho Choi) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
This paper deals with the adaptive backstepping hovering control for a quadrotor with model parameter uncertainties. In this paper, the backstepping based technique is utilized to design a nonlinear adaptive controller which can compensate for the motor thrust factor and the drag coefficient of a quadrotor. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. In particular, we use the shifted coordinate for ?- and ?-axis of a quadrotor. Second, an adaptive backstepping based attitude and altitude tracking control method is presented. The system stability and the convergence of tracking errors are proven using the Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.
동적 표면 제어 기반의 매니퓰레이터 장착 드론의 추종 제어
이근욱(Keun-Uk Lee),최윤호(Yoon-Ho Choi) 대한전기학회 2017 전기학회논문지 Vol.66 No.7
This paper deals with the dynamic surface control based tracking control for a drone equipped with a 2-DOF manipulator. First, the dynamics of drone and 2-DOF manipulator are derived separately. And we obtain the combined model of a drone equipped with a manipulator considering the inertia and the reactive torque generated by a manipulator. Second, a dynamic surface control based attitude and altitude control method is presented. Also, multiple sliding mode control based position control method is presented. The system stability and convergence of tracking errors are proven using Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.