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Transfer Alignment Error Compensator Design Based on Robust State Estimation
LYOU, Joon,LIM, You-Chol THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIEN 2005 Transactions of the Japan Society for Aeronautical Vol.48 No.161
<P>This paper examines the transfer alignment problem of the StrapDown Inertial Navigation System (SDINS), which is subject to the ship’s roll and pitch. Major error sources for velocity and attitude matching are lever arm effect, measurement time delay and ship-body flexure. To reduce these alignment errors, an error compensation method based on state augmentation and robust state estimation is devised. A linearized error model for the velocity and attitude matching transfer alignment system is derived first by linearizing the nonlinear measurement equation with respect to its time delay and dominant <I>Y</I>-axis flexure, and by augmenting the delay state and flexure state into conventional linear state equations. Then an <I>H</I><SUB>∞</SUB> filter is introduced to account for modeling uncertainties of time delay and the ship-body flexure. The simulation results show that this method considerably decreases azimuth alignment errors considerably.</P>
On Decentralized Adaptive Controller Design
Joon Lyou 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper presents a decentralized model reference adaptive control scheme for an interconnected linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subjected to bounded external disturbances. The scheme can treat the unknown strength of interactions as well as uncertainties in subsystem dynamics, and allows for the case when the relative degree of each decoupled subsystem does not exceed two.