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강창묵,박채훈,정철민 대한전기학회 2022 전기학회논문지 Vol.71 No.5
Many studies are being promoted due to the miniaturization of equipment installed in the UAV(Unmanned Aerial Vehicle). Among them, the quadrotor of MAV(Multirotor Aerial vehicle) is the most popular UAV and has been developed in various fields. Practical utilization of UAV requires stable flight or emergency action in fault of UAV parts, but a quadrotor with one motor damaged cannot perform stable flight due to unbalanced force applied to the quadrotor frame. For this reason the development of hexa- or octorotor with more motors is underway and the need to develop FDI(Fault Diagnosis and Isolation) algorithms to use with MAV is increasing. In this paper we designed a simulation based on MAV dynamic and FDI used to classify fault that occurred in the simulation. For fault diagnosis the model based FDI algorithm IMM(Interacting Multiple Model) was applied because the fault affects the system dynamic and output. IMM uses multiple filter models in simultaneously and then compare to the filters estimation and target system output to give weight to suitable filter model. IMM showed accurate and fast fault perceive and classification performance when a fault occurred in the MAV simulation.
강창묵,박채훈,정철민,유재현 대한전기학회 2022 전기학회논문지 Vol.71 No.9
Reinforcement learning is a method in which the controller interacts with the target system to collect data and utilizes it to evaluate and update itself. The common disadvantages of reinforcement learning are that it takes a considerable amount of time from initial random controls to valid controls, and that it can fall into local optima. For this reason, a method for improving learning efficiency by applying verified external control is being studied. In this paper, external control is utilized for data collection, making it easier to access data that is helpful for learning. This method not only improved learning efficiency, but also was able to derive a more stable controller than the external control by learning. To prove this, we applied the proposed method to RIP(Rotary Inverted Pendulum), which is used for controller stability experiments, and as external controls, swing-up and balance controls, which are commonly used for RIP control, were utilized.