• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.535-549
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• 2004

This paper proposes a sliding mode controller with fuzzy adaptive perturbation compensator(FAPC) to get a good control performance and reduce the chatter, The proposed algorithm can reduce the chattering because the proposed fuzzy adaptive perturbation compensator compensates the perturbation terms. The compensator computes the control input for compensating unmodeled dynamic terms and disturbance by using the observer-based fuzzy adaptive network(FAN) The weighting parameters of the compensate. are updated by on-line adaptive scheme in order to minimize the estimation error and the estimation velocity error of each actuator. Therefore, the combination of sliding mode control and fuzzy adaptive network gives the robust and intelligent routine to get a good control performance. To evaluate the control performance of the proposed approach, tracking control is experimentally carried out for the hydraulic motion platform which consists of a 6-DOF parallel manipulator.

• 한국지능시스템학회논문지
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• 제5권3호
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• pp.92-100
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• 1995

Fuzzy reasoning has been applied to analysis of traffic problems on urban arterial road. As the analysis on factors of route choice has been already carried out, its result can be used for construction of the model. Route choice rate estimation by fuzzy reasoning was discussed from its structure and accuracy. The major objective of the study is to introduce some kinds of methods with fuzzy reasoning and to make their feature obvious. First, the production system model is introduced with consideration of reality to actual travel behavior. Second, overlapping areas of fuzzy language function are investigated. Finally, process of fuzzy reasoning was also considered. Five kinds of Fuzzy reasoning are compared to investigate in relation between shapes of membership function and estimation validity.

• 전기학회논문지
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• 제57권7호
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• pp.1247-1253
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• 2008

A design method of a T-S fuzzy model based reduced order nonlinear unknown input observer(NUIO) is presented. The fuzzy NUIO is designed based on the parallel distributed compensation(PDC) concept. It consists of a number of the linear UIOs, each of which is designed for each local linear model in the T-S fuzzy model of a class of nonlinear systems. The fuzzy NUIO provides not only the state estimates insensitive to the unknown inputs, for example, disturbances and faults etc., but also the estimates of the unknown inputs. Therefore, It can be employed in the state feedback control and disturbance rejection control of a class of nonlinear systems with unknown disturbances. It also applied to the robust residual generation for the fault detection and isolation systems and to the design of fault tolerant control systems. As an example, the NUIO is applied to an inverted pendulum system to show the state and disturbance estimation performance and to illustrate the fuzzy reduced order NUIO design method.

• Journal of Electrical Engineering and Technology
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• 제5권2호
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• pp.276-281
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• 2010

The switched reluctance motor (SRM) is an older member of the electric machines family. Its simple structure, ruggedness and inexpensive manufacturing potential make it extremely attractive for industrial applications. However, these merits are overshadowed by its inherent high torque ripple, acoustic noise and difficulty to control. In this paper, a control strategy of the angle position control for the SRM drive based on fuzzy logic is illustrated. The input control parameter, the output control parameter and fuzzy control with FAM table formulation strategy are described and simulated with control patterns, and the decision form of the fuzzy control is illustrated and simulated, and the scope of implementing in a Fuzzy based ASIC chip is enlightened with literature support.

• 대한기계학회논문집A
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• 제33권8호
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• pp.832-841
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• 2009

Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index $I_{WTC}$ and $I_{ATC}$ were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. $I_{WTC}$ model and $I_{ATC}$ model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2001년도 추계학술대회 학술발표 논문집
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• pp.87-90
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• 2001

This paper is concerned with the estimation of a wafer part in grasping system. The estimation of a wafer size in grasping system is very important because a wafer must be placed in accurate position. The accurate information of a wafer size should be forward to Robot in order to place a wafer in accurate position. So in this paper, we decide the size of a wafer with Fuzzy Logic and consider the possibility of this method by simulation.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.750-755
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• 1998

Due to the temporal spatial correlation of the image sequence, the motion vector of a block is highly related to the motion vectors of its adjacent blocks in the same image frame. If we can obtain useful and enough information from the adjacent motion vectors, the total number of search points used to find the motion vector of the block may be reduced significantly. Using that idea, an efficient fuzzy prediction search (FPS) algorithm for block motion estimation is proposed in this paper. Based on the fuzzy inference process, the FPS can determine the motion vectors of image blocks quickly and correctly.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2011년도 제43차 동계학술발표논문집 19권1호
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• pp.85-88
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• 2011

Fuzzy C-Means (FCM) 알고리듬은 가장 널리 사용되는 군집화 알고리듬 중 하나로 다양한 응용 분야에서 사용되고 있다. 하지만 FCM은 여러 가지 문제점을 가지고 있으며 초기 원형 설정이 그 중 하나이다. FCM은 국부 최적해에 수렴하므로 초기 원형 설정에 따라 클러스터링 결과가 달라진다. 이 논문에서는 이러한 FCM의 초기 원형 설정 문제를 개선하기 위하여 커널밀도 추정 (kernel density estimation) 기법을 활용하는 방법을 제안한다. 제안한 방법에서는 먼저 커널 밀도 추정을 수행한 후 밀도가 높은 지역에 클러스터의 초기 원형을 설정하고 원형이 설정된 영역의 밀도를 감소시키는 과정을 반복함으로써 효율적으로 초기 원형을 설정할 수 있다. 제안된 방법이 일반적으로 사용되는 무작위 초기화 방법에 비해 효율적이라는 사실은 실험결과를 통해 확인할 수 있다.

• Nuclear Engineering and Technology
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• 제33권5호
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• pp.457-467
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• 2001

It is well known that the performance of a fuzzy neural network strongly depends on the input features selected for its training. In its applications to sensor signal estimation, there are a large number of input variables related with an output As the number of input variables increases, the training time of fuzzy neural networks required increases exponentially. Thus, it is essential to reduce the number of inputs to a fuzzy neural network and to select the optimum number of mutually independent inputs that are able to clearly define the input-output mapping. In this work, principal component analysis (PCA), genetic algorithms (CA) and probability theory are combined to select new important input features. A proposed feature selection method is applied to the signal estimation of the steam generator water level, the hot-leg flowrate, the pressurizer water level and the pressurizer pressure sensors in pressurized water reactors and compared with other input feature selection methods.