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황익호(Ick-Ho Whang),조성진(Sungjin Cho) 대한전기학회 2010 전기학회논문지 Vol.59 No.7
In this paper, we propose a novel guidance law for controlling an UAV(Unmanned Air-Vehicle) to follow a reference line in vertical plane. A kinematics model representing the relative motion of the UAV to the reference line is derived. And then LQR(Linear Quadratic Regulator) theory is applied to the model to derive the VLFG(Vertical Line Following Guidance) law. The resultant guidance law forms a gain-scheduling controller scheduled by a simple parameter σ which is a function of the UAV's velocity, axial acceleration, gravity, and the slope of the reference line. Also derived is a stability condition for the σ variation based on Lyapunov theory. Simulation results show that the proposed guidance law can be applied effectively to UAV guidance algorithm design.
황익호(Ick Ho Whang),박해리(Haerhee Park),김형석(Hyoungseok Kim),김부민(Boo Min Kim) 대한전기학회 2019 전기학회논문지 Vol.68 No.1
This paper is to consider an issue on the way to initialize the integrator in PID roll controller. A performance index including the 2 norms of roll angle and control signal is introduced to regulate initial roll angle and roll rate in an efficient way. And then we suggest the optimal value to initiate the integrator in PID roll controller by minimizing the performance index. The proposed method shows its effectiveness by showing a demonstrative design example.