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카메라를 이용한 3차원 공간상의 이동 목표물의 거리정보기반 모션추정
좌동경(Dongkyoung Chwa) 대한전기학회 2016 전기학회논문지 Vol.65 No.12
Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.
좌동경(Dongkyoung Chwa) 대한전기학회 2016 전기학회논문지 Vol.65 No.12
In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.
외란 보상 기법을 이용한 비선형시스템에서의 미지의 시변 사인파형 외란 보상
左東京(Dongkyoung Chwa) 대한전기학회 2007 전기학회논문지 Vol.56 No.10
This paper presents methods for the compensation of sinusoidal disturbances with unknown amplitude, phase, and time-varying frequency in nonlinear systems. In the previous disturbance accommodation methods, the sinusoidal disturbance with unknown time-invariant frequency was considered. In the proposed method, the disturbance with unknown time-varying frequency is compensated. As for the control structure, two control inputs are designed separately in such a way that one of them is designed for the nonlinear system control without considering the disturbance, and the other one uses the disturbance estimate obtained from the disturbance accommodating observer. The stability analysis is done considering the disturbance estimation error and the numerical simulation demonstrates the proposed approach.
적분 슬라이딩 모드 제어기를 이용한 매니퓰레이터의 영상기반 비주얼 서보잉
황준하(Junha Hwang),좌동경(Dongkyoung Chwa) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
본 논문에서는 영상기반의 정보를 로봇에 적용하는 매니퓰레이터 시스템을 설계하고, 외란에 강인한 적분 슬라이딩 모드 제어기로 성능을 향상시킨다. 영상기반으로 실제 목표물의 위치를 계속해서 추종하며 목표물과 입력값의 차이인 특징점 오차를 통해 모의실험으로 제어성능을 검증한다.
스케일 팩터를 이용한 움직이는 카메라와 정지목표물 사이의 SOS기반 거리 추정
김원희(Won-Hee Kim),좌동경(Dongkyoung Chwa) 대한전자공학회 2015 대한전자공학회 학술대회 Vol.2015 No.6
This paper proposes Sum of Squares (SOS) based range estimation method using scale factor. The previous works on the range estimation of camera system usually involves restrictive conditions of the camera velocities. When camera velocity is slow, the previous works has long estimation time. In comparison to previous works, less restrictive conditions of the camera velocities are required for the proposed method. The proposed method has faster estimation time using the scale factor. Simulation results are provided to verify the performance of the proposed method.