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RISS 인기검색어
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- 저자 : Zhi-Zun (검색결과 3 건)
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Design of a Sliding Mode Control-Based Trajectory Tracking Controller for Marine Vehicles
Zhi-Zun Xu,Heon-Hui Kim,Gyei-Kark Park,Taek-Kun Nam 한국항해항만학회 2018 한국항해항만학회지 Vol.42 No.2
A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship s speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship s trajectory and applied the proposed control scheme to ship s trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.
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Design of a Sliding Mode Control-Based Trajectory Tracking Controller for Marine Vehicles
Xu, Zhi-Zun,Kim, Heon-Hui,Park, Gyei-Kark,Nam, Taek-Kun Korean Institute of Navigation and Port Research 2018 한국항해항만학회지 Vol.42 No.2
A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.
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Email Spam Filtering Based on the MNMF Algorithm
Zun-xiong Liu,Shan-shan Tian,Zhi-qiang Huang,Jiang-wei Liu 보안공학연구지원센터 2016 International Journal of Security and Its Applicat Vol.10 No.1
Content-based email spam filtering is a challenging problem in which emails are often represented as high-dimensional data. This paper proposes an approach to email spam filtering based on max-margin semi-NMF (MNMF). MNMF combines the ideas of semi-NMF and max-margin and performs dimension reduction and classification simultaneously. In MNMF, we employ the same approach as Semi-NMF to update the coefficient matrix (while the other parameters are fixed) instead of quadratic programming. Simulation experiments were performed on two public Chinese email corpuses. The results show that MNMF is much faster and performs much better than support vector machine (SVM) classifiers that use features extracted by principal component analysis or linear discriminant analysis, and the MNMF method also outperforms SVM classification schemes in combination with feature extractions based on NMF and Semi-NMF
KCI
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