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Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter
이대원,Shankar Sastry,김현진 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.3
This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.
전재춘(Jaechoon Chon),Shankar Sastry 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
In the field of camera motion research, it is widely held that the position (movement) and pose (rotation) of cameras are correlated and cannot be independently separated. A new equation based on inner product is proposed here to independently separate the position and pose. It is proved that the position and pose are not correlated and the equation is applied to estimation of the camera exterior parameters using a real image and 3D data.
벡터내적 기반 카메라 외부 파라메터 응용: 카메라와 레이져스캐너간의 캘리브레이션
전재춘 ( Jae Choon Chon ),Shankar Sastry 大韓遠隔探査學會 2007 大韓遠隔探査學會誌 Vol.23 No.6
영상의 두점과 카메라 초점을 지나는 벡터들간의 사잇각을 기반한 방정식은 카메라 위치와 제세가 독립적으로 분리시킬 수 있다. 본 논문은 이 방정식의 두번째 응용으로써, 벡터내적 기반 방정식에 의해 생성된 곡면 분석을 통한 카메라와 레이져 라인 스캐너간의 상대적인 외부표정 계산을 소개한다. The equation based on vector inner product by the angles between pairs of two image rays can independently separate the position and pose of a camera. As our second application, the exterior calibration between a camera and a laser range finder is proposed here through analysis of surfaces created by the equation.
3차원 데이터상에 영상등록을 위한 카메라 외부표정 계산
Chon, Jae-Choon,Ding, Min,Shankar, Sastry 한국측량학회 2007 한국측량학회지 Vol.25 No.5
본 논문에서는 3차원 점군, 3차원 벡터 또는 3차원 곡면에 영상등록하는 새로운 방법을 제안 하였다. 제안한 방법은 카메라 위치와 3차원 직선, 2차원 영상 직선을 각각 지나는 평면의 법선벡터의 일치화를 통하여 카메라 외부표정을 추정하는 것이다. 법선벡터 일치화의 조건은 각 법선벡터 쌍의 사잇각이 제로가 되는 것이다. 이 조건은 벡터내적인 수학식으로 표현 된다. 시뮬례이션을 통하여 제안한 방법이 영상등록을 위한 외부표정 추정을 강인하게 하는 것을 증명하였다. A novel method to register images onto 3D data, such as 3D point cloud, 3D vectors, and 3D surfaces, is proposed. The proposed method estimates the exterior orientation of a camera with respective to the 3D data though fitting pairs of the normal vectors of two planes passing a focal point and 2D and 3D lines extracted from an image and the 3D data, respectively. The fitting condition is that the angle between each pair of the normal vectors has to be zero. This condition can be represented as a numerical formula using the inner product of the normal vectors. This paper demonstrates the proposed method can estimate the exterior orientation for the image registration as simulation tests.