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沈殷燮 충남대학교 공업교육연구소 1978 論文集 Vol.1 No.2
In the study of linear control theory, one often encounters computations which, although theoretically simple, can be an impedient to the learning of the basic concepts, For example after completing a control system design, it may be very helpful to the process to estimate, this design. The labor involved in the determination of the output response of the system for the arbitrary input may be prohibitive. In addition, it is often desirable to study high-order realistic design problems in order to emphasize the practical usefulness of the theory, without a method of computational assistance, it is very hard that such problems are calculated. The goal of this study is to provide the algorithm and programs for analysis of linear system by the state-variable method. As the algorithm, two types are considered. One is that of analysis in-the time domain the other is that of analysis by Laplace transformation.
심은섭,문성태,장종태 한국항공우주학회 2015 한국항공우주학회 학술발표회 논문집 Vol.2015 No.11
본 논문에서는 모션캡처시스템이 설치된 공간에서 던진 볼을 쿼드콥터를 이용해 받는 시스템을 개발하였다. 볼의 위치 데이터를 측정하여 볼 궤적의 위치와 속도를 추정하기 위해 확장 칼만필터를 구현하였으며, 얻은 추정 값을 이용하여 볼이 떨어지는 위치의 정확도를 크게 향상시켜 바스켓이 달린 쿼드콥터를 Gain-Scheduled-PID 위치제어로 볼을 받게 구현하였다. This paper presents a system for capturing a flying ball with a quadrocopter using Motion Capture System. Using the measured position data of the ball, an extended Kalman filter was implemented to estimate its position and velocity. Using the estimates obtained, by predicting the position where the ball falls with a great improvement in accuracy, a quadrocopter with an attached basket can catch the ball by a Gain-Scheduled-PID position controller.