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이상헌(Sangheon Lee),손흥선(Hungsun Son) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
Nonlinear system parameters are necessary to be identified for developing control laws. However, nonlinearities of the system and measurement noises make difficulties for the system identification. To mitigate the mentioned issues, Gaussian process regression is mathematically derived for the identification purpose. In addition, to verify the method, three kinds of nonlinear systems are identified by the proposed method using numerical simulation data. Finally, the parameters of each system are estimated by the proposed method and the results show great identification performance in spite of nonlinearities and measurement noises.
신민호(Minho Shin),손흥선(Hungsun Son) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
This paper represents the development of the autonomous landing system of multirotor UAV on moving ship under harsh sea condition. Accurate and robust sensing system is necessary for UAV autonomous landing on the ship with high precision and safety. However, global positioning system (GPS) fails to provide an acceptable position measurement. Hence, an ultra-wideband (UWB) positioning system which can provide a relative position in 20 centimeters level of accuracy is used for measuring the accurate relative position of UAV with respect to the moving ship. Experimental validation performed with a ground landing platform and a virtual sea wave environment to validate the landing accuracy and robustness.