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배설봉(Seol B. Bae),신동협(Dong H. Shin),권순태(Soon T. Kwon),주문갑(Moon G. Joo) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.2
In this paper, An LQR controller is proposed for way-point tracking of AUV (Autonomous Underwater Vehicle). The LQR controller aims at tracking a series of way-points which operator registers arbitrarily in advance. It consists of a depth controller and a steering controller and AUV"s surge speed is assumed varying to consider the dynamic environment of the underwater. In order to show the performance, a conventional state feedback controller is compared with the proposed controller by the simulation using Matlab/Simulink. The parameters of AUV developed by the author"s laboratory are used. In the simulation, we verify that the LQR controller can track all the way-points within 1 m error range under the varying surge speed, which proves the robustness of the LQR controller.
무인잠수정의 적분 상태 궤환 제어기 설계 및 경유점 추적 연구
배설봉(Seol B. Bae),신동협(Dong H. Shin),박상홍(Sang H. Park),주문갑(Moon G. Joo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.8
A state feedback controller with integration of output error is proposed for way-point tracking of an AUV (Autonomous Underwater Vehicle). For the steering control on the XY plane, the proposed controller uses three state variables (sway velocity, yaw rate, heading angle) and the integral of the steering error, and for the depth control on the XZ plane, it uses four state variables (pitch rate, depth, pitch angle) and the integral of the depth error. From the simulation using Matlab/Simulink, we verify that the performance of the proposed controller is satisfactory within an error range of 1m from the target way-point for arbitrarily chosen sets of consecutive way-points.
배설봉(Seol B. Bae),신동협(Dong H. Shin),주문갑(Moon G. Joo) 한국정보기술학회 2014 한국정보기술학회논문지 Vol.12 No.6
In this paper, we propose a PD controller to control the depth of the hovering AUV(autonomous underwater vehicle). Developed test-bed of AUV has the vertical thruster and azimuth thrusters, where the vertical thruster to control pitch is located rear of test-bed and each azimuth thruster to control depth and speed is located on each side of test-bed. An IMU and a depth sensor are used to measure the posture and the depth of test-bed. Controller of azimuth thruster is composed of a heading PD controller and a depth PD controller. Propulsion and direction of azimuth thruster is determined by vector sum of heading controller and depth controller. The performance of the controller is verified through the experiment under disturbance. Experimental results show that the depth of the test bed is controlled within the error range of 0.1m.
김민지,배설봉,백운경,주문갑,하경남,Kim, Min J.,Bae, Seol B.,Baek, Woon-Kyung,Joo, Moon G.,Ha, Kyoung Nam 대한임베디드공학회 2015 대한임베디드공학회논문지 Vol.10 No.4
For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.
이동 로봇 제어를 위한 안드로이드 스마트폰 어플리케이션 개발
김민지(Min J. Kim),배설봉(Seol B. Bae),주문갑(Moon G. Joo),이원창(Won Chang Lee) 한국정보기술학회 2014 한국정보기술학회논문지 Vol.12 No.5
In this paper, we propose an Android smartphone application to control the posture of mobile robots. The Android smartphone application transmits various commands of posture to a mobile robot by Bluetooth communication. The posture commands are perceived from user motion by collecting data values from acceleration sensor and orientation sensor in the Android smartphone. Pseudo-augmented reality is aimed, where the user is controlling and observing the mobile robots through a camera screen displaying the robot information together, to prevent dispersion of the users sight. Experiment using a mobile car and a mobile ship shows 91.53% recognition rate of the posture command by the posture of Android smartphone.
퍼지 PD 제어기를 사용한 자율 무인 잠수정의 경유점 추적
신동협(Dong H. Shin),배설봉(Seol B. Bae),백운경(Woon K. Baek),주문갑(Moon G. Joo) 한국정보기술학회 2013 한국정보기술학회논문지 Vol.11 No.5
In this paper, we suggest a fuzzy PD controller for robust control of AUV(autonomous underwater vehicle). We implement the fuzzy PD controller combining a fuzzy system and three PD controllers designed for the surge of 1.2, 2.4, and 3.6m/s, respectively to cope with the unknown external force. In the simulation, we assume a sea current at 1m/s in a fixed direction and simulate the AUV way-point tracking using PD controller and fuzzy PD controller, respectively. In the Matlab/Simulink simulation, random noises up to ±0.005m/s to the measurement of velocity and ±15°/s, to angular velocity are considered. As a result of simulation, the proposed fuzzy PD controller is shown to overcome 1m/s sea currents and to track the way-point within 1m error range.