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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2021.4
- 수록면
- 57 - 65 (9page)
- DOI
- 10.9726/kspse.2021.25.2.057
이용수
초록· 키워드
오류제보하기
This paper presents a novel target tracking control design method for 2-axis gimbal system. Especially, the delay time raised from control signal calculation, sensing signal transducing and transmitting, affects the system stability and degrades the control performance. To overcome these issues, in this study, the authors propose a new tracking system design method based on robust control framework. The designed control system can preserve the system stability and control performance simultaneously in spite of time delay. The developed control method was applied to a 2-axis gimbal system. A STSMC (super-twisting sliding mode control) scheme was provided for a comparison study. Finally, the simulation results were presented for validating the usefulness of the method.
목차
Abstract
1. 서론
2. 연구배경 및 문제설정
3. 강인제어기법에 의한 제어계 설계
4. 시뮬레이션
5. 결론
References
참고문헌 (21)
참고문헌 신청
Francois Chaumette / 2006 / Visual servo control. I. Basic approaches / IEEE Robotics & Automation Magazine 13(4):82~90
F. Chaumette / 2007 / Visual servo control. II. Advanced approaches [Tutorial] / IEEE Robotics & Automation Magazine 14(1):109~118
G. Palmieri / 2012 / A Comparison between Position-Based and Image-based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator’ / Journal of Robotics 2012
Z. Hurak / 2012 / Image-Based Pointing and Tracking for Inertially Stabilized Airborne Camera Platform / IEEE Transactions on Control Systems Technology 20(5):1146~1159
Z. Hurák / 2009 / Combined Line-of-Sight Inertial Stabilization and Visual Tracking: Application to an Airborne Camera Platform / Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference :8458~8463
F. Chaumette / 2007 / Visual servo control. II. Advanced approaches [Tutorial] / IEEE Robotics & Automation Magazine 14(1):109~118
G. Palmieri / 2012 / A Comparison between Position-Based and Image-based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator’ / Journal of Robotics 2012
Z. Hurak / 2012 / Image-Based Pointing and Tracking for Inertially Stabilized Airborne Camera Platform / IEEE Transactions on Control Systems Technology 20(5):1146~1159
Z. Hurák / 2009 / Combined Line-of-Sight Inertial Stabilization and Visual Tracking: Application to an Airborne Camera Platform / Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference :8458~8463
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