http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Adaptive Control of Robot Manipulators Using Lyapunov Design
유준,남상우,김병연,박은영,Lyou, Joon,Nam, Sang-Woo,Kim, Byung-Yeun,Park, Eun-Young The Institute of Electronics and Information Engin 1987 전자공학회논문지 Vol.24 No.6
This paper prexents an adaptive control scheme which adjusts any deviations of the manipulator from a desired trajectory. The scheme combines a new adaptive control and the conventional nominal control which drives the manipulator to the neighborhood of the trajectory. The proposed adaptive control is developed based on the lineatized perturbation equations in the vicinity of the trajectory and the Lyapunov design method, which makes the perturbations exponentially decay and has less computational requirements than the existing ones.
유준,임유철,Lyou Joon,Lim You-Chol 대한전자공학회 2004 電子工學會論文誌-SC (System and control) Vol.41 No.1
INS는 위치, 속도 및 자세정보를 고속으로 제공하며 스스로 항법정보를 제공하는 장점이 있으나 오차가 시간에 따라 증가하는 단점이 있다. 반면에 GPS는 데이터를 저속으로 제공하며 재밍(Jamming)에 영향을 쉽게 받으나 오차가 시간에 상관없이 일정하다는 장점이 있다. 따라서 상호보완적인 특성을 가지는 INS와 GPS를 통합하였을 때 더욱더 정확한 항법해를 제공할 수 있다. 그러나 INS와 GPS를 통합하는 과정에서 INS정보와 GPS정보의 정확한 시각적 동기가 어려우며, 시각적 비동기에 의한 오차는 일정한 측정오차를 유발하며 고속으로 운항하는 경우에는 큰 영향을 미치게 된다. 본 연구는 GPS/INS 통합항법 시스템에서 측정치 시간지연에 의해 유발되는 오차를 효과적으로 줄이기 위해 바이어스 분리형 칼만필터를 이용한 시간지연오차 보상기법을 강결합 방식과 약결합 방식에 대하여 각각 제안하였다. 각각의 통합모델에서 위치와 속도보정의 측정방정식을 지연시간에 관하여 선형화하였고 지연 상태변수를 기존의 선형 오차방정식에 추가하고 바이어스 분리형 칼만필터를 적용하여 시간지연을 초기에 추정하여 보상하도록 구성하였으며 시뮬레이션을 통하여 성능을 검증하였다. The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.
Decentralized Model Reference Adaptive Control of a Class of Interconnected Continuous Systems
유준,김성수,임인성,Lyou, Joon,Kim, Sung-Soo,Yim, In-Sung The Institute of Electronics and Information Engin 1987 전자공학회논문지 Vol.24 No.6
This paper presents a decentralized model reference adaptive control scheme for an interconnected continuous linear system composed of a number of single input single output subsystems. The scheme can treat the unknown strengh of interconnections as well as the uncertainty of subsystems. The scheme automatically adjusts the local feedback gains so that the output of each subsystem exponetially tracks that of the reference model.
유준(Joon Lyou),이준민(JunMin Lee),정하형(HaHyoung Jung) 대한전기학회 2015 정보 및 제어 심포지엄 논문집 Vol.2015 No.4
무인기 또는 드론의 호버링시 MEMS 기반의 자세측정센서로는 비행체가 한쪽으로 흐르는 편류현상이 발생한다. 본 연구는 시뮬레이터 개발로, 바닥을 지향한 카메라를 1축 모션 스테이지에 장착하고 일정 속도로 움직임을 인가하여 얻은 영상으로부터 광류 알고리즘을 적용하여 흐르는 방향과 그 양을 구한다. 궁극적으로 광류에 의한 카메라의 움직임을 추정하고 제자리 비행 실현에 유용함을 보인다.
김재형,유준,곽휘권,Kim, Jae-Hyung,Lyou, Joon,Kwak, Hwy-Kuen 한국군사과학기술학회 2008 한국군사과학기술학회지 Vol.11 No.3
An artificial vision aided NDGPS/INS system has been developed and tested in the dynamic environment of ground and flight vehicles to evaluate the overall system performance. The results show the significant advantages in position accuracy and situation awareness. Accuracy meets the CAT-I precision approach and landing using NDGPS/INS integration. Also we confirm the proposed system is effective enough to improve flight safety by using artificial vision. The system design, software algorithm, and flight test results are presented in details.
남헌성,유준,Nam, Heon-Seong,Lyou, Joon 한국군사과학기술학회 2001 한국군사과학기술학회지 Vol.4 No.2
In this paper, a robust attitude control scheme based on Eigenaxis rotation for the spacecraft is proposed. Eigenaxis rotation transforms the attitude of spacecraft to the shortest path and is represented by quaternion. The control law consists of PD-type control part for the nominal system and the robust control part for compensating inertia uncertainty. For the proposed controller, stability analysis is performed and the performance is shown via computer simulation.
Markov process 및 상태천이확률 행렬 계산을 통한 사격통제장치 전처리필터 신뢰성 산출 기법
김재훈,유준,Kim, Jae-Hun,Lyou, Joon 한국군사과학기술학회 1999 한국군사과학기술학회지 Vol.2 No.2
An easy and efficient method is proposed for a computation of reliability of preprocessing filters in the fire control system when the sensor data are frequently unreliable depending on the operation environment. It computes state transition probability matrix after modeling filter states as a Markov process, and computing false alarm and detection probability of each filter state under the given sensor failure probability. It shows that two important indices such as distributed state probability and error variance can be derived easily for a reliability assessment of the given sensor fusion system.
폐회로 제어시스템의 강인한 고장진단 및 고장허용제어 기법 연구
이종효,유준,Lee, Jong-Hyo,Lyou, Joon 한국군사과학기술학회 2000 한국군사과학기술학회지 Vol.3 No.1
This paper presents a robust fault diagnosis and fault tolerant control method for the control systems in closed-loop affected by unknown inputs or disturbances. The fault diagnostic scheme is based on the disturbance-decoupled state estimation using a 2-stage state observer for state, actuator bias and sensor bias. The estimated bias show the occurrence time, location and type of the faults directly. The estimated state is used for state feedback to achieve fault tolerant control against the faults. Simulation results show that the method has definite fault tolerant ability against actuator and sensor faults, moreover, the faults can be detected on-line, isolated and estimated simultaneously.
임정빈,유준,Yim, Jong-Bin,Lyou, Joon 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.1
Electro Otical Tracking System(EOTS) is required for a rapid movement as well as the stabilization of Line-Of-Sight(LOS). In order to achieve these two goals, this paper presents a position and velocity driving profile generation method from the constant acceleration and deceleration profile according to the current state, enabling a fast and smooth trajectory even if the target position changes during the movement of LOS. Simulation and experimental results reveal that the settling time could be reduced significantly by adopting the present position control scheme.