Trajectory generation and ℋ∞ robust control for inertially stabilized system
This paper describes a controller design method for inertially stabilized system of tracking radar. Its aim is to track a reference target trajectory while isolating any rigid body motion of a host ship. First, we treat the trajectory generation problem to make the control input for a target trackin...
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| creator | Seongil Hong Ki Dae Cho Chul Hyo Park Woo Sung Kang |
| description | This paper describes a controller design method for inertially stabilized system of tracking radar. Its aim is to track a reference target trajectory while isolating any rigid body motion of a host ship. First, we treat the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equation of motion is formulated by spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of the dynamic equation are estimated with experimental input output data by minimizing predicted error. Third, mixed sensitivity H ∞ robust controller is designed to meet the conflict requirements of robustness and performance in the face of plant uncertainty. Finally, the proposed optimal controller is implemented and show the effectiveness of design methodology by experimental results. |
| doi_str_mv | 10.1109/AIM.2011.6026974 |
| format | Conference Proceeding |
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Finally, the proposed optimal controller is implemented and show the effectiveness of design methodology by experimental results.</description><subject>Azimuth</subject><subject>Equations</subject><subject>Marine vehicles</subject><subject>Mathematical model</subject><subject>Radar tracking</subject><subject>Sensitivity</subject><subject>Trajectory</subject><issn>2159-6247</issn><issn>2159-6255</issn><isbn>9781457708381</isbn><isbn>1457708388</isbn><isbn>9781457708374</isbn><isbn>145770837X</isbn><isbn>9781457708398</isbn><isbn>1457708396</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkMtKAzEYheMNLHX2gpu8wIz5c59lKV4KFV3UdUkyGUmZzkgSF-PaheA7-HB9EgsWwdXh8H2cxUHoEkgFQOrr2eKhogSgkoTKWvEjVNRKAxdKEc0UP0YTCqIuJRXi5B_TcPrHuDpHRUobQggQLShlE_S0imbjXR7iiF9876PJYeix6Ru8-_jafX7jONi3lLEb-hyHDrdDxGHv5WC6bsQpGxu68O4bnMaU_fYCnbWmS7445BQ9396s5vfl8vFuMZ8tywBK5FLKVgtiPLWtEJzyWgH3xlGwAK5hDRW1Fc5yzZxsmGuZ1FLbRoB13Hvfsim6-t0N-7p-jWFr4rg-_MN-AD4HV5M</recordid><startdate>201107</startdate><enddate>201107</enddate><creator>Seongil Hong</creator><creator>Ki Dae Cho</creator><creator>Chul Hyo Park</creator><creator>Woo Sung Kang</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201107</creationdate><title>Trajectory generation and ℋ∞ robust control for inertially stabilized system</title><author>Seongil Hong ; Ki Dae Cho ; Chul Hyo Park ; Woo Sung Kang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-66f850ae2bf554249714eac21b11cd3d259b5cb483c6d3cf36868bd51bc4eeef3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Azimuth</topic><topic>Equations</topic><topic>Marine vehicles</topic><topic>Mathematical model</topic><topic>Radar tracking</topic><topic>Sensitivity</topic><topic>Trajectory</topic><toplevel>online_resources</toplevel><creatorcontrib>Seongil Hong</creatorcontrib><creatorcontrib>Ki Dae Cho</creatorcontrib><creatorcontrib>Chul Hyo Park</creatorcontrib><creatorcontrib>Woo Sung Kang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Seongil Hong</au><au>Ki Dae Cho</au><au>Chul Hyo Park</au><au>Woo Sung Kang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Trajectory generation and ℋ∞ robust control for inertially stabilized system</atitle><btitle>2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</btitle><stitle>AIM</stitle><date>2011-07</date><risdate>2011</risdate><spage>695</spage><epage>700</epage><pages>695-700</pages><issn>2159-6247</issn><eissn>2159-6255</eissn><isbn>9781457708381</isbn><isbn>1457708388</isbn><eisbn>9781457708374</eisbn><eisbn>145770837X</eisbn><eisbn>9781457708398</eisbn><eisbn>1457708396</eisbn><abstract>This paper describes a controller design method for inertially stabilized system of tracking radar. Its aim is to track a reference target trajectory while isolating any rigid body motion of a host ship. First, we treat the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equation of motion is formulated by spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of the dynamic equation are estimated with experimental input output data by minimizing predicted error. Third, mixed sensitivity H ∞ robust controller is designed to meet the conflict requirements of robustness and performance in the face of plant uncertainty. Finally, the proposed optimal controller is implemented and show the effectiveness of design methodology by experimental results.</abstract><pub>IEEE</pub><doi>10.1109/AIM.2011.6026974</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011, p.695-700 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Azimuth Equations Marine vehicles Mathematical model Radar tracking Sensitivity Trajectory |
| title | Trajectory generation and ℋ∞ robust control for inertially stabilized system |
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