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LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어
윤석민(Suk-Min Yoon),여태경(Tae-Kyeong Yeu),박성재(Seong-Jea Park),홍섭(Sup Hong),김상봉(Sang-Bong Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.
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최종수(JONG-SU CHOI),여태경(TAE-KYEONG YEU),김형우(HYUNG-WOO KIM),성기영(KI-YOUNG SUNG),박성재(SOUNG-JEA PARK),김성순(SEONG-SOON KIM),홍섭(SUP HONG) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
A pilot mining robot far deep-sea manganese nodules, which aims at the use for Pre-Pilot Mining Test and Pilot Mining Test, was designed and was being manufactured. The scale of the pilot mining robot is 1/5 for commercial one. In this paper, hydraulic system of the pilot mining robot, which has just been constructed, is introduced and explained. Hydraulic system is composed of reservoir, high pressure filters, valve packs, linear and rotational actuators, return and drain filters, and so on. Since the hydraulic system is determined as a dosed loop hydraulic circuits, reservoir pressure within the circuits is compensated to ambient The pressure of reservoir always keeps about 0.25~0.5 bar the higher than ambient pressure. Since the pilot mining robot works about ambient temperature, 2 ℃, and is moving system, the small size reservoir was adopted for reducing total weight and space. The capacity cf a compensator was calculated by considering the bulk modulus of the hydraulic oil. HPLIs were tested successfully in factory at full flaw, highest pressure, half loading. The bad-compensated proportional valves for the speed control of some actuators were adopted in order to make the actuators rotating constantly for varied loading. The pilot mining robot including the hydraulic system will be tested at 1000m water depth of East Sea in the end of 2012. The performance of the system mill be verified and the data for designing commercial mining system will be collected.
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최종수(JONG-SU CHOI),여태경(TAE-KYEONG YEU),김형우(HYUNG-WOO KIM),성기영(KI-YOUNG SUNG),박성재(SOUNG-JEA PARK),김성순(SEONG-SOON KIM),홍섭(SUP HONG) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
A pilot mining robot for deep-sea manganese nodules, which aims at the use for Pre-Pilot Mining Test and Pilot Mining Test, was designed and was being manufactured. The scale of the pilot mining robot is 1/5 for commercial one. In this paper, hydraulic system of the pilot mining robot, which has just been constructed, is introduced and explained. Hydraulic system is composed of reservoir, high pressure filters, valve packs, linear and rotational actuators, return and drain filters, and so on. Since the hydraulic system is determined as a closed loop hydraulic circuits, reservoir pressure within the circuits is compensated to ambient. The pressure of reservoir always keeps about 0.25~0.5 bar the higher than ambient pressure. Since the pilot mining robot works about ambient temperature, 2℃, and is moving system, the small size reservoir was adopted for reducing total weight and space. The capacity of a compensator was calculated by considering the bulk modulus of the hydraulic oil. HPUs were tested successfully in factory at full flow, highest pressure, half loading. The load-compensated proportional valves for the speed control of some actuators were adopted in order to make the actuators rotating constantly for varied loading. The pilot mining robot including the hydraulic system will be tested at 1000m water depth of East Sea in the end of 2012. The performance of the system will be verified and the data for designing commercial mining system will be collected.
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