유비쿼터스 환경에서 개방형 제어 플랫폼에 기반한 무인탐사차량의 재형상 가능 위치제어

초록

We study on the implementation of reconfigurable position control system which is based on Open Control Platform(OCP) for Unmanned Expedition Vehicles(UEV) in ubiquitous environment. The control system uses hierarchical control structure and OCP structure which contains three layers such as core OCP, reconfigurable control API(Application Programmer Interface), generic hybrid control API. The goal of our research is to implement an UEV control system using advanced software technology. As a specific control problem, we study a transition management problem between PID control and neural network control depending on fault or parameter change of the plant, i.e., UEV. The concept of the OCP-based software-enabled control can provide synergy effect by the integration of software component, middleware, network communication, and control, and thus can be applied to various systems in ubiquitous environment.

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