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BRONZE ๋“ฑ๊ธ‰์˜ ํŒ๋งค์ž ์ž๋ฃŒ

[์—ฐ์„ธ๋Œฟ’ํ•™๊ป“] ์ œ์–ด ๋ฐ ์งฟ’๋Šฅํ˜• ์‹œ์Šคํ…œ์˜ ํ•ด์„ ๋ฐ ์„ค๊ณ„ - ์ตœ์ข… ๋ณด๊ณ ์„œ (Model Predictive Control)

"[์—ฐ์„ธ๋Œฟ’ํ•™๊ป“] ์ œ์–ด ๋ฐ ์งฟ’๋Šฅํ˜• ์‹œ์Šคํ…œ์˜ ํ•ด์„ ๋ฐ ์„ค๊ณ„ - ์ตœ์ข… ๋ณด๊ณ ์„œ (Model Predictive Control)" ๊ด€๋ จ ์ž๋ฃŒ์ž…๋‹ˆ๋‹ค.
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์›Œ๋“œ
์ตœ์ดˆ๋“ฑ๋ก์ผ 2024.05.26 ์ตœ์ข…์ ฟ’์ž‘์ผ 2019.06
4P ๋ฏธ๋้ฉ๋ณด๊ธฐ
[์—ฐ์„ธ๋Œฟ’ํ•™๊ป“] ์ œ์–ด ๋ฐ ์งฟ’๋Šฅํ˜• ์‹œ์Šคํ…œ์˜ ํ•ด์„ ๋ฐ ์„ค๊ณ„ - ์ตœ์ข… ๋ณด๊ณ ์„œ (Model Predictive Control)
  • ๋ฏธ๋้ฉ๋ณด๊ธฐ

    ์†Œ๊ฐœ

    "[์—ฐ์„ธ๋Œฟ’ํ•™๊ป“] ์ œ์–ด ๋ฐ ์งฟ’๋Šฅํ˜• ์‹œ์Šคํ…œ์˜ ํ•ด์„ ๋ฐ ์„ค๊ณ„ - ์ตœ์ข… ๋ณด๊ณ ์„œ (Model Predictive Control)" ๊ด€๋ จ ์ž๋ฃŒ์ž…๋‹ˆ๋‹ค.

    ๋ชฉ์ฐจ

    1. Introduction
    2. Model Predictive Control
    3. Inverted Pendulum Dynamics
    4. Problem Formulation
    5. Conclusion

    ๋ณธ๋ๅฉ๋‚ด์šฉ

    I. INTRODUCTION
    CONTROL SYSTEMS have a wide variety of use in different areas ranging from robotics to biological systems. Numerous control theories have been developed, including model predictive control (MPC), a type of optimal control which uses system models to predict their future behavior. In this study, MPC is applied to the tracking problem of an inverted pendulum to demonstrate its applicability.

    ์ฐธ๊ณ ์ž๋ฃŒ

    ยท A. J. Brizard, 2014, โ€œAn introduction to Lagrnagian mechanics,โ€ World Scientific.
    ยท O. Boubaker, 2012, โ€œThe inverted pendulum: A Fundamental benchmark in control theory and robotics,โ€ IEEE.
    ยท Liuping Wang, 2010, โ€œModel predictive control system design and implementation using MATLAB,โ€ Springer.
    ยท Melvin G. Calkin, 1999, โ€œLagrangian and Hamiltonian mechanics: Solutions to the exercises,โ€ World Scientific.
    ยท E. F. Camacho and C. Bordons, 1998, โ€œModel predictive control,โ€ Springer.
  • Easy Ai ์š”์•ฝ

    ์ด ๋ฌธ์„œ๋Š” ์—ญ์ง„์ž ์‹œ์Šคํ…œ์˜ ๋ชจ๋ธ ์˜ˆ์ธก ์ถ”์  ์ œ์–ด์— ๊ด€ํ•œ ์—ฐ๊ตฌ ๋‚ด์šฉ์„ ๋‹ค๋ฃจ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค. ๋ผ๊ทธ๋ž‘์ง€์•ˆ์„ ์ด์šฉํ•˜์—ฌ ์—ญ์ง„์ž ์‹œ์Šคํ…œ์˜ ์šด๋™ ๋ฐฉ์ •์‹์„ ๋„์ถœํ•˜๊ณ , ์ด๋ฅผ ์„ ํ˜•ํ™”ํ•˜์—ฌ ๋ชจ๋ธ ์˜ˆ์ธก ์ œ์–ด๊ธฐ๋ฅผ ์„ค๊ณ„ํ•˜์˜€์Šต๋‹ˆ๋‹ค. ์ œ์–ด๊ธฐ์˜ ๋ชฉ์ ์€ ์นดํŠธ๊ฐ€ ๊ธฐ์ค€ ์‹ ํ˜ธ๋ฅผ ๋”ฐ๋ฅด๋ฉด์„œ ๋™์‹œ์— ์—ญ์ง„์ž๋ฅผ ์ˆ˜์ง ์œ„์น˜๋กœ ์œ ์ง€ํ•˜๋Š” ๊ฒƒ์ž…๋‹ˆ๋‹ค. GEKKO ๋ผ์ด๋ธŒ๋Ÿฌ๋ฆฌ๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•˜์˜€์œผ๋ฉฐ, ๊ทธ ๊ฒฐ๊ณผ ์นดํŠธ์˜ ๋ณ€์œ„๊ฐ€ ๊ธฐ์ค€ ์‹ ํ˜ธ๋ฅผ ์ž˜ ์ถ”์ข…ํ•˜๊ณ  ์—ญ์ง„์ž์˜ ์ตœ๋Œ€ ๊ฐ๋„ ๋ณ€ํ™”๊ฐ€ 5.72๋„ ์ด๋‚ด๋กœ ์œ ์ง€๋˜๋Š” ๊ฒƒ์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด ๋ชจ๋ธ ์˜ˆ์ธก ์ œ์–ด๊ธฐ๊ฐ€ ์—ญ์ง„์ž ์‹œ์Šคํ…œ์˜ ์ถ”์  ์ œ์–ด์— ํšจ๊ณผ์ ์œผ๋กœ ์ ์šฉ๋  ์ˆ˜ ์žˆ์Œ์„ ๋ณด์—ฌ์ฃผ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค. ์ด ์—ฐ๊ตฌ๋Š” ๋‹ค์–‘ํ•œ ๋น„์„ ํ˜• ๋ถˆ์•ˆ์ • ์‹œ์Šคํ…œ์— ๋ชจ๋ธ ์˜ˆ์ธก ์ œ์–ด๊ธฐ๋ฅผ ์ ์šฉํ•˜๋Š” ๋ฐ ์žˆ์–ด ์œ ์šฉํ•œ ์ฐธ๊ณ ์ž๋ฃŒ๊ฐ€ ๋  ๊ฒƒ์œผ๋กœ ๋ณด์ž…๋‹ˆ๋‹ค.
  • ์ž๋ฃŒํ›„๊ธฐ

    Ai ๋ฆฌ๋ทฐ
    ์ด ๋…ผ๋ๅฉ์€ ์—ญ์ง„์ž ์‹œ์Šคํ…œ์— ๋Œ€ํ•œ ๋ชจ๋ธ ์˜ˆ์ธก ์ œ์–ด๊ธฐ ์„ค๊ณ„ ๊ณผ์ •์„ ์ž์„ธํžˆ ๋‹ค๋ฃจ๊ณ  ์žˆ์œผ๋ฉฐ, ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ๋ฅผ ํ†ตํ•ด ๊ทธ ํšจ๊ณผ๋ฅผ ์ž˜ ๋ณด์—ฌ์ฃผ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.
    • ์ž์ฃผ๋ฌป๋Š”์งˆ๋ๅฉ์˜ ๋‹ต๋ณ€์„ ํ™•์ธํ•ด ์ฃผ์„ธ์š”

      ํ•ดํ”ผ์บ ํผ์Šค FAQ ๋”๋ต–๊ธฐ

      ๊ผญ ์•Œ์•„์ฃผ์„ธ์š”

      • ์ž๋ฃŒ์˜ ์ •๋ณด ๋ฐ ๋‚ด์šฉ์˜ ์ง„์‹ค์„ฑ์— ๋Œ€ํ•˜์—ฌ ํ•ดํ”ผ์บ ํผ์Šค๋Š” ๋ณด์ฆํ•˜์ง€ ์•Š์œผ๋ฉฐ, ํ•ด๋‹น ์ •๋ณด ๋ฐ ๊ฒŒ์‹œ๋ฌผ ์ €์ž‘๊ถŒ๊ณผ ๊ธฐํƒ€ ๋ฒ•์  ์ฑ…์ž„์€ ์ž๋ฃŒ ๋“ฑ๋ก์ž์—๊ฒŒ ์žˆ์Šต๋‹ˆ๋‹ค.
        ์ž๋ฃŒ ๋ฐ ๊ฒŒ์‹œ๋ฌผ ๋‚ด์šฉ์˜ ๋ถˆ๋ฒ•์  ์ด์šฉ, ๋ฌด๋‹จ ์ „์žฌโˆ™๋ฐฐํฌ๋Š” ๊ธˆ์ง€๋˜์–ด ์žˆ์Šต๋‹ˆ๋‹ค.
        ์ €์ž‘๊ถŒ์นจํ•ด, ๋ช…์˜ˆํ›ผ์† ๋“ฑ ๋ถ„์Ÿ ์š”์†Œ ๋ฐœ๊ฒฌ ์‹œ ๊ณ ๊ฐ๋น„๋ฐ”์นด์ง€๋…ธ Viva์˜ ์ €์ž‘๊ถŒ์นจํ•ด ์‹ ๊ณ ๋น„๋ฐ”์นด์ง€๋…ธ Viva๋ฅผ ์ด์šฉํ•ด ์ฃผ์‹œ๊ธฐ ๋ฐ”๋ž๋‹ˆ๋‹ค.
      • ํ•ดํ”ผ์บ ํผ์Šค๋Š” ๊ตฌ๋งค์ž์™ฟ’ ํŒ๋งค์ž ๋ชจ๋‘๊ฐ€ ๋งŒ์กฑํ•˜๋Š” ์„œ๋น„์Šค๊ฐ€ ๋˜๋„๋ก ๋…ธ๋ ฅํ•˜๊ณ  ์žˆ์œผ๋ฉฐ, ์•„๋ž˜์˜ 4๊ฐ€์ง€ ์ž๋ฃŒํ™˜๋ถˆ ์กฐ๊ฑด์„ ๊ผญ ํ™•์ธํ•ด์ฃผ์‹œ๊ธฐ ๋ฐ”๋ž๋‹ˆ๋‹ค.
        ํŒŒ์ผ์˜ค๋ฅ˜ ์ค‘๋ณต์ž๋ฃŒ ์ €์ž‘๊ถŒ ์—†์Œ ์„ค๋ช…๊ณผ ์‹ค์ œ ๋‚ด์šฉ ๋ถˆ์ผ์น˜
        ํŒŒ์ผ์˜ ๋‹ค์šด๋กœ๋“œ๊ฐ€ ์ œ๋Œ€๋กœ ๋˜์ง€ ์•Š๊ฑฐ๋‚˜ ํŒŒ์ผํ˜•์‹์— ๋งž๋Š” ํ”„๋กœ๊ทธ๋žจ์œผ๋กœ ์ •์ƒ ์ž‘๋™ํ•˜์ง€ ์•Š๋Š” ๊ฒฝ์šฐ ๋‹ค๋ฅธ ์ž๋ฃŒ์™ฟ’ 70% ์ด์ƒ ๋‚ด์šฉ์ด ์ผ์น˜ํ•˜๋Š” ๊ฒฝ์šฐ (์ค‘๋ณต์ž„์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ๋Š” ๊ทผ๊ฑฐ ํ•„์š”ํ•จ) ์ธํ„ฐ๋„ท์˜ ๋‹ค๋ฅธ ์‚ฌ์ดํŠธ, ์—ฐ๊ตฌ๊ธฐ๊ด€, ํ•™๊ป“, ์„œ์  ๋“ฑ์˜ ์ž๋ฃŒ๋ฅผ ๋„์šฉํ•œ ๊ฒฝ์šฐ ์ž๋ฃŒ์˜ ์„ค๋ช…๊ณผ ์‹ค์ œ ์ž๋ฃŒ์˜ ๋‚ด์šฉ์ด ์ผ์น˜ํ•˜์ง€ ์•Š๋Š” ๊ฒฝ์šฐ
    ๋ฌธ์„œ ์ดˆ์•ˆ์„ ์ƒ์„ฑํ•ด์ฃผ๋Š” EasyAI
    ์•ˆ๋…•ํ•˜์„ธ์š”. ํ•ดํ”ผ์บ ํผ์Šค์˜ ๋ฐฉ๋Œ€ํ•œ ์ž๋ฃŒ ์ค‘์—์„œ ์„ ๋ณ„ํ•˜์—ฌ ๋‹น์‹ ๋งŒ์˜ ์ดˆ์•ˆ์„ ๋งŒ๋“ค์–ด์ฃผ๋Š” EasyAI ์ž…๋‹ˆ๋‹ค.
    ์ €๋Š” ์•„๋ž˜์™ฟ’ ๊ฐ™์ด ์ž‘์—…์„ ๋„์™ฟ’๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์ฃผ์ œ๋งŒ ์ž…๋ ฅํ•˜๋ฉด ๋ชฉ์ฐจ๋ถ€ํ„ฐ ๋ณธ๋ๅฉ๋‚ด์šฉ๊นŒ์ง€ ์ž๋™ ์ƒ์„ฑํ•ด ๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์žฅ๋ฌธ์˜ ์ฝ˜ํ…์ธ ๋ฅผ ์‰ฝ๊ณ  ๋น ๋ฅด๊ฒŒ ์ž‘์„ฑํ•ด ๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์Šคํ† ์–ด์—์„œ ๋ฌด๋ฃŒ ์บ์‹œ๋ฅผ ๊ณ„์ •๋ณ„๋กœ 1ํšŒ ๋ฐœ๊ธ‰ ๋ฐ›์„ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. ์ง€๊ธˆ ๋ฐ”๋กœ ์ฒดํ—˜ํ•ด ๋ณด์„ธ์š”!
    ์ด๋Ÿฐ ์ฃผ์ œ๋“ค์„ ์ž…๋ ฅํ•ด ๋ณด์„ธ์š”.
    - ์œ ์•„์—๊ฒŒ ์ ํ•ฉํ•œ ๋ฌธํ•™์ž‘ํ’ˆ์˜ ๊ธฐ์ค€๊ณผ ํŠน์„ฑ
    - ํ•œ๊ตญ์ธ์˜ ๊ฐ€์น˜๊ด€ ์ค‘์—์„œ ์ •์‹ ์  ๊ฐ€์น˜๊ด€์„ ์ด๋ฃจ๋Š” ๊ฒƒ๋“ค์„ ๋ฌธํ™”์  ๋ฌธ๋ฒ•์œผ๋กœ ์ •๋ฆฌํ•˜๊ณ , ํ˜„๋Œ€ํ•œ๊ตญ์‚ฌํšŒ์—์„œ ์ผ์–ด๋‚˜๋Š” ์‚ฌ๊ฑด๊ณผ ์‚ฌ๊ณ ๋ฅผ ๋น„๊ตํ•˜์—ฌ ์ž์‹ ์˜ ์˜๊ฒฌ์œผ๋กœ ๊ธฐ์ˆ ํ•˜์„ธ์š”
    - ์ž‘๋ณ„์ธ์‚ฌ ๋…ํ›„๊ฐ
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    ์ฑ—๋ด‡์œผ๋กœ ๊ฐ„ํŽธํ•˜๊ฒŒ ์ƒ๋‹ดํ•ด๋ณด์„ธ์š”.
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    ์•ˆ๋…•ํ•˜์„ธ์š”. ํ•ดํ”ผ์บ ํผ์Šค AI ์ฑ—๋ด‡์ž…๋‹ˆ๋‹ค. ๋ฌด์—‡์ด ๊ถ๊ธˆํ•˜์‹ ๊ฐ€์š”?
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