• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.620-622
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weigh. Secondly, reposed fuzzy logic applied by the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takaki-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.138-138
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• 2000

In this paper, a methodology for designing a controller based on inverse dynamics for speed control of DC motors is presented. The proposed controller consists of a prefilter, the inverse dynamic model of a system and a fuzzy logic controller. The prefilter prevents high frequency effects from the inverse dynamic model. The model of the system is characterized by a nonlinear equation with coulomb friction. The fuzzy logic controller regulates the error between the set-point and the system output which may be caused by disturbances and it simultaneously traces the change o( the reference input. The parameters of the model are estimated by a genetic a]gorithm. An experimental work on a DC motor system is carried out to illustrate the performance of the proposed controller

• 한국정밀공학회지
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• 제14권4호
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• pp.104-109
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• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1996년도 추계학술대회논문집; 한국과학기술회관, 8 Nov. 1996
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• pp.160-165
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• 1996

Nonlinear Attitude Dynamic Equation for fleable-body satellite is drived and confirmed the effect of flexible body. GA based Fuzzy Logic Controller is designed. Also, Bang-bang controller is designed for compare the performance, Fuzzy controller chows much batter result then those by using of Bang-Bang controller.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.907-910
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• 1993

This paper describes the use of fuzzy control and decision making to simulate the control of traffic flow at an intersection. To show the value of fuzzy logic as an alternative method for control of traffic environments. A traffic environment includes the lanes to and from an intersection, the intersection, vehicle traffic, and signal lights in the intersection. To test the fuzzy logic controller, a computer simulation was constructed to model a traffic environment. A typical cross intersection was chosen for the traffic environment, and the performance of the fuzzy logic controller was compared with the performance of two different types of conventional control. In the hardware verifications, fuzzy logic was used to control acceleration of a model train on a circular path. For the software experiment, the fuzzy logic controller proved better than conventional control methods, especially in the case of highly uneven traffic flow between different directions. On the hardware si e of the research, the fuzzy acceleration control system showed a marked improvement in smoothness of ride over crisp control.

• Journal of Power Electronics
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• 제8권3호
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• pp.210-216
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• 2008

This paper presents a classical speed controller (CSC) for vector controlled induction motors. The controller explores the use of a Fuzzy Logic controller in a classical form. The controller combines the advantages of the classical controller and the properties of intelligent controllers. The Fuzzy Logic controller idea is used to obtain the CSC output equation, whereby the CSC equation is based on the speed error and its change. The CSC parameters are calculated based on the motor mechanical equation and a predefined system performance. Once the CSC parameters are obtained, the defined speed performance can be achieved at all operating conditions. The application of the CSC to control the speed of a vector controlled induction motor is presented. Different induction motor ratings are used. Simulation results in all possible olperating conditions are presented. Results show that the CSC behaves as an expert controller to provide the predefined speed performance in all possible operating conditions. Based on the results obtained in this paper, the CSC is expected to become the ultimate solution for high-performance drives of the next generation.

• 중소기업융합학회논문지
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• 제4권1호
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• pp.31-39
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• 2014

PID 오토 튜닝 컨트롤러는 퍼지 논리를 통해 설계되었다. 이러한 오류 및 오류 파생 의견으로 일반적인 값은 발견적 표현으로 변경, 그들은 퍼지 및 defuzzification 과정을 통해 PID 이득을 결정했다. 퍼지 절차 및 PID 제어기 설계는 개별적으로 간주하고, 그것들을 혼합하고, 분석 하였다. 퍼지 논리에 의해 획득 자동 조정 PID 컨트롤러는 3 차 플랜트 제어 이하의 능력을 보여 주었다. 또한 설계된 자동 동조 방식으로 추적 문제를 참조하는 데 적용한다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.917-920
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• 1993

Various forms of hardware alternatives exist for the implementation of fuzzy logic controllers. In this paper, we describe a systematic framework for realizing fuzzy heuristics on programmable-logic-devices. Our approach is suitable for the automated development of fuzzy logic controllers.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권1호
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• pp.12-19
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• 2015

In order to guide the robots move along a collision-free path efficiently and reach the goal position quickly in the unknown multi-obstacle environment, this paper presented the navigation problem of a wheel mobile robot based on proximity sensors by fuzzy logic controller. Then a genetic algorithm was applied to optimize the membership function of input and output variables and the rule base of the fuzzy controller. Here the environment is unknown for the robot and contains various types of obstacles. The robot should detect the surrounding information by its own sensors only. For the special condition of path deadlock problem, a wall following method named angle compensation method was also developed here. The simulation results showed a good performance for navigation problem of mobile robots.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2015년도 추계학술대회 논문집
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• pp.215-216
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• 2015

A suspending force control based on fuzzy logic control is proposed to apply on a novel hybrid bearingless switched reluctance motor(BLSRM) which has separated torque and suspending force pole. In this paper, two fuzzy controller targeted at x-axis direction and y-axis direction are adopted to maintain the shaft at center position, which is very necessary for stable operation of BLSRM. Useing the modified fuzzy logic controller, the suspending system can behave a good performance, and the proposed scheme can be verified by simulation results.