Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987773
Kyuhwan Kim, Jae Jin Jeong, Taewon Kim, Sang Woo Kim
In order to automate the electrode replacement process, it is necessary to estimate the electrode consumption. Because the electrode controller lowers the electrode according to the electrode consumption, it is possible to estimate the consumption by measuring the position of the electrode. However, due to the structure of the electrode and the electrode arm, it is difficult to measure the electrode position directly. Thus we measured the position of the mast which holds up the electrode arm. In order to determine when to replace the electrode, it is necessary to know the consumption of the electrode per operation. So, we calculated the representative value of the mast position for every operation. Then, we analyzed the changing trend of the representative values of the mast position to estimate the electrode consumption. Also, because the arc length increases about 1 cm when the arc voltage increases 10 V, we modified the representative values and estimated the electrode consumption. The results which were obtained from the analysis of the mast position are in good agreement with the real operation pattern.
{"title":"Estimation of electrode consumption using mast position in electric arc furnace","authors":"Kyuhwan Kim, Jae Jin Jeong, Taewon Kim, Sang Woo Kim","doi":"10.1109/ICCAS.2014.6987773","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987773","url":null,"abstract":"In order to automate the electrode replacement process, it is necessary to estimate the electrode consumption. Because the electrode controller lowers the electrode according to the electrode consumption, it is possible to estimate the consumption by measuring the position of the electrode. However, due to the structure of the electrode and the electrode arm, it is difficult to measure the electrode position directly. Thus we measured the position of the mast which holds up the electrode arm. In order to determine when to replace the electrode, it is necessary to know the consumption of the electrode per operation. So, we calculated the representative value of the mast position for every operation. Then, we analyzed the changing trend of the representative values of the mast position to estimate the electrode consumption. Also, because the arc length increases about 1 cm when the arc voltage increases 10 V, we modified the representative values and estimated the electrode consumption. The results which were obtained from the analysis of the mast position are in good agreement with the real operation pattern.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"74 1","pages":"1384-1388"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82525384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987765
M. Sotnikova, E. Veremey, N. Zhabko
The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides' wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it's necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.
{"title":"Wheel angular velocity stabilization using rough encoder data","authors":"M. Sotnikova, E. Veremey, N. Zhabko","doi":"10.1109/ICCAS.2014.6987765","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987765","url":null,"abstract":"The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides' wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it's necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"2019 1","pages":"1345-1350"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87792821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987836
S. Sornmuang, J. Suwatthikul, S. Thirachai
This paper presents a new hybrid of Neural-Adaptive Tabu Search (NATS) for leakage detection in pipelines. The proposed cooperative algorithms are formed from Artificial Neural Network (ANN) and Adaptive Tabu Search (ATS). The article shows comparison studies of the ANN and NATS algorithms. The search performance evaluation is performed on the standard benchmark from University of California at Irvine (UCI) Machine Learning Repository. The experiment uses water leakage signals from a field-test yard. The results show that the leaking pipeline can be efficiently detected.
{"title":"Leak detection of pipeline using a hybrid of Neural-Adaptive Tabu Search algorithm","authors":"S. Sornmuang, J. Suwatthikul, S. Thirachai","doi":"10.1109/ICCAS.2014.6987836","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987836","url":null,"abstract":"This paper presents a new hybrid of Neural-Adaptive Tabu Search (NATS) for leakage detection in pipelines. The proposed cooperative algorithms are formed from Artificial Neural Network (ANN) and Adaptive Tabu Search (ATS). The article shows comparison studies of the ANN and NATS algorithms. The search performance evaluation is performed on the standard benchmark from University of California at Irvine (UCI) Machine Learning Repository. The experiment uses water leakage signals from a field-test yard. The results show that the leaking pipeline can be efficiently detected.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"16 6","pages":"531-534"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91521774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987939
Kap-Ho Seo, Yongsik Park, Sungjo Yun, Sung-Ho Park, Kwang-Woo Jeon, Jungsoo Jun, Dae-Hee Kim
Robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.
{"title":"Gait pattern generation for robotic gait rehabilitation system on treadmill","authors":"Kap-Ho Seo, Yongsik Park, Sungjo Yun, Sung-Ho Park, Kwang-Woo Jeon, Jungsoo Jun, Dae-Hee Kim","doi":"10.1109/ICCAS.2014.6987939","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987939","url":null,"abstract":"Robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"15 1","pages":"1090-1094"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84649320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987867
Suwannee Phayapchaiyakun, S. Intajag, Thani Jintasuttisak
Image fusion in remote sensing is usually called pan-sharpening, which is a useful method to synthesis a high resolution multispectral image (MS) from the combining of a high resolution panchromatic image (PAN) with a low resolution MS image. The popular fusion methods are intensity-hue-saturation (IHS)-based methods. However, the IHS-based methods have two major problems: (i) out-of-gamut due to transformation between red-green-blue (RGB) and IHS color systems and (ii) color distortion due to variation of saturation and intensity in image fusion. The proposed method studied on the relationship between intensity and saturation to preserve spectral information of the fusing THEOS images. Thus, we found a suitable color space, iHSL (improved hue-saturation-lightness) for pan-sharpening that can isolate the intensity or lightness component. The fusion method employs smooth filter-based intensity modulation technique to merge the spatial information from PAN with the intensity component from MS images. From the studied results, our method could preserve the spectral information better than the well-known IHS-based methods.
{"title":"Spectral preservation of pan-sharpening for THEOS imagery","authors":"Suwannee Phayapchaiyakun, S. Intajag, Thani Jintasuttisak","doi":"10.1109/ICCAS.2014.6987867","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987867","url":null,"abstract":"Image fusion in remote sensing is usually called pan-sharpening, which is a useful method to synthesis a high resolution multispectral image (MS) from the combining of a high resolution panchromatic image (PAN) with a low resolution MS image. The popular fusion methods are intensity-hue-saturation (IHS)-based methods. However, the IHS-based methods have two major problems: (i) out-of-gamut due to transformation between red-green-blue (RGB) and IHS color systems and (ii) color distortion due to variation of saturation and intensity in image fusion. The proposed method studied on the relationship between intensity and saturation to preserve spectral information of the fusing THEOS images. Thus, we found a suitable color space, iHSL (improved hue-saturation-lightness) for pan-sharpening that can isolate the intensity or lightness component. The fusion method employs smooth filter-based intensity modulation technique to merge the spatial information from PAN with the intensity component from MS images. From the studied results, our method could preserve the spectral information better than the well-known IHS-based methods.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"16 1","pages":"686-691"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82422362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987924
Chanmin Jung, Jonggu Kang, M. Jin
The function of radar image recording in VDR (Voyage Data Recorder) installed on a ship has been adapted in IMO constraint regulations. For this function, a VDR should be equipped with the dedicated recording device called “Image Grabber”. Recently, as the number of radar on a ship has increased, the number of image grabber also has been increased proportionally. However this structure has lack of scalability. As a result, it could cause to rising costs and drop a competitive price. MSC.333(90) which is international standard related for VDR performances describes that both radar and ECDIS(Electronic Chart Display and Information System) image also should be store in final storage medium. And ECDIS image data should be sent through the Ethernet interface which is described in IEC 61162-450. In this paper, we proposed the technology of radar and ECDIS image processing based on Ethernet for VDR to overcome rising costs and to follow the recent trends of the data communication method.
{"title":"The development of Ethernet based radar and ECDIS image processing for Voyage Data Recorder","authors":"Chanmin Jung, Jonggu Kang, M. Jin","doi":"10.1109/ICCAS.2014.6987924","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987924","url":null,"abstract":"The function of radar image recording in VDR (Voyage Data Recorder) installed on a ship has been adapted in IMO constraint regulations. For this function, a VDR should be equipped with the dedicated recording device called “Image Grabber”. Recently, as the number of radar on a ship has increased, the number of image grabber also has been increased proportionally. However this structure has lack of scalability. As a result, it could cause to rising costs and drop a competitive price. MSC.333(90) which is international standard related for VDR performances describes that both radar and ECDIS(Electronic Chart Display and Information System) image also should be store in final storage medium. And ECDIS image data should be sent through the Ethernet interface which is described in IEC 61162-450. In this paper, we proposed the technology of radar and ECDIS image processing based on Ethernet for VDR to overcome rising costs and to follow the recent trends of the data communication method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"31 1","pages":"963-966"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89106202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987877
Kwang‐Kyo Oh, H. Ahn
We study cooperative formation control based on orientation alignment and position estimation for kinematic rigid bodies moving in two- or three-dimensional space. We assume agents sense relative positions of their neighbors with respect to their own local reference coordinates, orientations of which are not aligned to each other initially. The proposed formation control strategy consists of orientation alignment, position estimation, and position control laws. If the interaction graph is strongly connected and orientations of the agents are initially close enough, the orientations of the agents are exponentially aligned and the estimated and actual positions asymptotically converge to actual and desired positions, respectively, up to translation in a common reference coordinate.
{"title":"Formation control of rigid bodies based on orientation alignment and position estimation","authors":"Kwang‐Kyo Oh, H. Ahn","doi":"10.1109/ICCAS.2014.6987877","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987877","url":null,"abstract":"We study cooperative formation control based on orientation alignment and position estimation for kinematic rigid bodies moving in two- or three-dimensional space. We assume agents sense relative positions of their neighbors with respect to their own local reference coordinates, orientations of which are not aligned to each other initially. The proposed formation control strategy consists of orientation alignment, position estimation, and position control laws. If the interaction graph is strongly connected and orientations of the agents are initially close enough, the orientations of the agents are exponentially aligned and the estimated and actual positions asymptotically converge to actual and desired positions, respectively, up to translation in a common reference coordinate.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"70 1","pages":"740-744"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88960244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6988000
Da-Yoon Kang, Jinsoo Kim, Y. Shin, D. Jang, Sung-Phil Kim
Humans experience dynamical variations of cognitive and emotional states while watching a movie. Recently, neurocinematics has emerged as an interdisciplinary research field to understand how human brain reacts to films. So far, many studies attempted to find coherent responses among the subjects that are induced by a film. However, due to the sociocultural nature of cinema, a neurocinematic study may need to examine brain responses of a human population while they are watching a movie in the same space. In this study, we measured subjects' brain activity while they were watching a movie together at the same time. We investigated inter-subject correlations (ISCs) for each of five frequency bands: Delta (2~4Hz), Theta (4~8Hz), Alpha (8~13Hz), low Beta (13~18), and high Beta (18~23Hz). A non-parametric permutation method was used to test statistical significance. The results showed that the ISCs over all the frequency bands increased in several scenes, which were important for the stream in the plot of the movie. Our study demonstrated a plausibility of extracting coherent neural responses to films in a coextensive group of people.
{"title":"Coherent neural responses of human populations during watching movie","authors":"Da-Yoon Kang, Jinsoo Kim, Y. Shin, D. Jang, Sung-Phil Kim","doi":"10.1109/ICCAS.2014.6988000","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988000","url":null,"abstract":"Humans experience dynamical variations of cognitive and emotional states while watching a movie. Recently, neurocinematics has emerged as an interdisciplinary research field to understand how human brain reacts to films. So far, many studies attempted to find coherent responses among the subjects that are induced by a film. However, due to the sociocultural nature of cinema, a neurocinematic study may need to examine brain responses of a human population while they are watching a movie in the same space. In this study, we measured subjects' brain activity while they were watching a movie together at the same time. We investigated inter-subject correlations (ISCs) for each of five frequency bands: Delta (2~4Hz), Theta (4~8Hz), Alpha (8~13Hz), low Beta (13~18), and high Beta (18~23Hz). A non-parametric permutation method was used to test statistical significance. The results showed that the ISCs over all the frequency bands increased in several scenes, which were important for the stream in the plot of the movie. Our study demonstrated a plausibility of extracting coherent neural responses to films in a coextensive group of people.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"87 1","pages":"272-274"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85877870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987964
A. Yamanashi, H. Madokoro, Yutaka Ishioka, Kazuhito Sato
This paper presents a segmentation method of multiple object regions based on visual saliency. Our method comprises three steps. First, attentional points are detected using saliency maps (SMs). Subsequently, regions of interest (RoIs) are extracted using scale-invariant feature transform (SIFT). Finally, foreground regions are extracted as object regions using GrabCut. Using RoIs as teaching signals, our method achieved automatic segmentation of multiple objects without learning in advance. As experimentally obtained results obtained using PASCAL2011 dataset, attentional points were extracted correctly from 18 images for two objects and from 25 images for single objects. We obtained segmentation accuracies: 64.1%, precision; 62.1%, recall, and 57.4%, F-measure. Moreover, we applied our method to time-series images obtained using a mobile robot. Attentional points were extracted correctly for seven images for two objects and three images for single objects from ten images. We obtained segmentation accuracies of 58.0%, precision; 63.1%, recall, and 58.1%, F-measure.
{"title":"Visual saliency based segmentation of multiple objects using variable regions of interest","authors":"A. Yamanashi, H. Madokoro, Yutaka Ishioka, Kazuhito Sato","doi":"10.1109/ICCAS.2014.6987964","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987964","url":null,"abstract":"This paper presents a segmentation method of multiple object regions based on visual saliency. Our method comprises three steps. First, attentional points are detected using saliency maps (SMs). Subsequently, regions of interest (RoIs) are extracted using scale-invariant feature transform (SIFT). Finally, foreground regions are extracted as object regions using GrabCut. Using RoIs as teaching signals, our method achieved automatic segmentation of multiple objects without learning in advance. As experimentally obtained results obtained using PASCAL2011 dataset, attentional points were extracted correctly from 18 images for two objects and from 25 images for single objects. We obtained segmentation accuracies: 64.1%, precision; 62.1%, recall, and 57.4%, F-measure. Moreover, we applied our method to time-series images obtained using a mobile robot. Attentional points were extracted correctly for seven images for two objects and three images for single objects from ten images. We obtained segmentation accuracies of 58.0%, precision; 63.1%, recall, and 58.1%, F-measure.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"28 1","pages":"88-93"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89574641","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987918
G. Duan
In this paper, the dynamical model in a matrix second-order nonlinear form with respect to the quaternion coordinates is firstly established for the attitude system of a satellite, which is complete in the sense that no approximation is taken. Then, with the help of a recently proposed general parametric design approach for general fully-actuated second-order nonlinear systems, a direct parametric approach for satellite attitude control via proportional plus derivative quaternion feedback is proposed, which gives a complete parametrization of the pair of feedback gains. The approach possesses two important features. Firstly, with the proposed controller parametrization, the satellite attitude system, though highly nonlinear, can be turned into a constant linear system with desire eigenstructure. Secondly, in such a design there are still degrees of freedom which may be further utilized to improve the system performance. An example is considered to demonstrate the use of the proposed approach.
{"title":"Quaternion-based satellite attitude control—A direct parametric approach","authors":"G. Duan","doi":"10.1109/ICCAS.2014.6987918","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987918","url":null,"abstract":"In this paper, the dynamical model in a matrix second-order nonlinear form with respect to the quaternion coordinates is firstly established for the attitude system of a satellite, which is complete in the sense that no approximation is taken. Then, with the help of a recently proposed general parametric design approach for general fully-actuated second-order nonlinear systems, a direct parametric approach for satellite attitude control via proportional plus derivative quaternion feedback is proposed, which gives a complete parametrization of the pair of feedback gains. The approach possesses two important features. Firstly, with the proposed controller parametrization, the satellite attitude system, though highly nonlinear, can be turned into a constant linear system with desire eigenstructure. Secondly, in such a design there are still degrees of freedom which may be further utilized to improve the system performance. An example is considered to demonstrate the use of the proposed approach.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"2003 14","pages":"935-941"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72620333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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