KR101021797B1 - 적응함수 근사화를 이용한 무인항공기의 개선제어방법 - Google Patents
적응함수 근사화를 이용한 무인항공기의 개선제어방법 Download PDFInfo
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- KR101021797B1 KR101021797B1 KR1020090001146A KR20090001146A KR101021797B1 KR 101021797 B1 KR101021797 B1 KR 101021797B1 KR 1020090001146 A KR1020090001146 A KR 1020090001146A KR 20090001146 A KR20090001146 A KR 20090001146A KR 101021797 B1 KR101021797 B1 KR 101021797B1
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- aerial vehicle
- unmanned aerial
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012905 input function Methods 0.000 claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims abstract description 5
- 230000006978 adaptation Effects 0.000 claims description 4
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
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- Software Systems (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
Description
Claims (3)
- 제어기의 선형제어 입력함수에 대한 실제 무인항공기모델의 실제출력함수와 상기 선형제어 입력함수에 대한 무인항공기 선형모델의 선형출력함수를 비교하여 출력오차를 구하는 출력비교단계;상기 출력비교단계에서 구해진 출력오차를 입력받아 적응근사화 함수의 선형 파라미터 벡터를 계산하기 위한 적응법칙을 통해 선형 파라미터를 가지는 적응근사화 함수를 구하는 함수 근사화단계;상기 함수 근사화단계에서 구해진 상기 적응근사화 함수에 제어입력벡터의 의사역행렬을 곱한 적응제어 입력함수와 상기 제어기의 선형제어 입력함수를 합한 개선제어 입력함수를 통해 상기 실제 무인항공기모델을 개선제어하는 개선제어단계를 포함하는 적응함수 근사화를 이용한 무인항공기의 개선제어방법.
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KR1020090001146A KR101021797B1 (ko) | 2009-01-07 | 2009-01-07 | 적응함수 근사화를 이용한 무인항공기의 개선제어방법 |
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KR1020090001146A KR101021797B1 (ko) | 2009-01-07 | 2009-01-07 | 적응함수 근사화를 이용한 무인항공기의 개선제어방법 |
Publications (2)
Publication Number | Publication Date |
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KR20100081759A KR20100081759A (ko) | 2010-07-15 |
KR101021797B1 true KR101021797B1 (ko) | 2011-03-17 |
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KR1020090001146A KR101021797B1 (ko) | 2009-01-07 | 2009-01-07 | 적응함수 근사화를 이용한 무인항공기의 개선제어방법 |
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US9562773B2 (en) | 2014-03-15 | 2017-02-07 | Aurora Flight Sciences Corporation | Autonomous vehicle navigation system and method |
US9875661B2 (en) | 2014-05-10 | 2018-01-23 | Aurora Flight Sciences Corporation | Dynamic collision-avoidance system and method |
IL267810B (en) | 2017-01-06 | 2022-11-01 | Aurora Flight Sciences Corp | Collision avoidance system and method for an unmanned aircraft |
US11119212B2 (en) | 2018-08-10 | 2021-09-14 | Aurora Flight Sciences Corporation | System and method to reduce DVE effect on lidar return |
US11037453B2 (en) | 2018-10-12 | 2021-06-15 | Aurora Flight Sciences Corporation | Adaptive sense and avoid system |
CN110969724B (zh) * | 2019-12-23 | 2021-11-30 | 拓攻(南京)机器人有限公司 | 无人机飞行性能的分析方法、装置、设备以及存储介质 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100842103B1 (ko) | 2007-06-15 | 2008-06-30 | 주식회사 대한항공 | 함수근사기를 이용한 무인항공기의 선형제어 성능 개선방법 |
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Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR100842103B1 (ko) | 2007-06-15 | 2008-06-30 | 주식회사 대한항공 | 함수근사기를 이용한 무인항공기의 선형제어 성능 개선방법 |
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