• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.2
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• pp.215-221
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• 2006

This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.

• Journal of Korean Society for Geospatial Information Science
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• v.8 no.1 s.15
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• pp.51-63
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• 2000

Dynamic traffic assignment(DTA) has been a topic of substantial research during the past decade. While DTA is gradually maturing, many aspects of DTA still need improvement, especially regarding its formulation and solution algerian Recently, with its promise for In(Intelligent Transportation System) and GIS(Geographic Information System) applications, DTA have received increasing attention. This potential also implies higher requirement for DTA modeling, especially regarding its solution efficiency for real-time implementation. But DTA have many mathematical difficulties in searching process due to the complexity of spatial and temporal variables. Although many solution algorithms have been studied, conventional methods cannot iud the solution in case that objective function or constraints is not convex. In this paper, the genetic algorithm to find the solution of DTA is applied and the Merchant-Nemhauser model is used as DTA model because it has a nonconvex constraint set. To handle the nonconvex constraint set the GENOCOP III system which is a kind of the genetic algorithm is used in this study. Results for the sample network have been compared with the results of conventional method.