• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2264-2269
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• 2003

This paper presents an improved method that constructs an equivalent T-S fuzzy model for nonlinear systems expressed by nonlinear differential equations including terms of power series. The method in this paper has fewer numbers of the rules than the previous methods as well as exactly expresses nonlinear systems. Moreover, this method can get wider feasible area satisfying the stability conditions than the previous methods. We show the improvement of modeling by comparing the proposed method with two previous methods through an inverted pendulum on a cart.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.587-590
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• 2003

In this paper, the control of the differential drive wheeled mobile robot (DDWMR) is studied. Because the DDWMR have non-holonomic constraints, it cannot be stabilized by smooth feedback. The T-S fuzzy model for the DDWMR is presented and a control algorithm Is developed by well known PID control and LMI based regional pole-placement.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.120-123
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• 1997

This paper presents models of fuzzy inference systems that can be built from a set of input-output training data pairs through hybrid structure-parameter learning. Fuzzy inference systems has the difficulty of parameter learning. Here we develop a coding format to determine a fuzzy neural network(FNN) model by chromosome in a genetic algorithm(GA) and present systematic approach to identify the parameters and structure of FNN. The proposed FNN can automatically identify the fuzzy rules and tune the membership functions by modifying the connection weights of the networks using the GA and the back-propagation learning algorithm. In order to show effectiveness of it we simulate and compare with conventional methods.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.646-651
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• 2004

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.3
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• pp.238-244
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• 2012

A modeling of vision based robot formation control system using fuzzy logic controller and extended Kalman filter is presented in this paper. The main problems affecting formation controls using fuzzy logic controller and vision based robots are: a robot's position in a formation need to be maintained, how to develop the membership function in order to obtain the optimal fuzzy system control that has the ability to do the formation control and the noise coming from camera process changes the position of references view. In order to handle these problems, we propose a fuzzy logic controller system equipped with a dynamic output membership function that controls the speed of the robot wheels to handle the maintenance position in formation. The output membership function changes over time based on changes in input at time t-1 to t. The noises appearing in image processing change the virtual target point positions are handled by Extended Kalman filter. The virtual target positions are established in order to define the formations. The virtual target point positions can be changed at any time in accordance with the desired formation. These algorithms have been validated through simulation. The simulations confirm that the follower robots reach their target point in a short time and are able to maintain their position in the formation although the noises change the target point positions.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.3
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• pp.79-90
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• 2004

Systematical robust stability analysis and design scheme for the feedback linearization control systems via fuzzy modeling are proposed. It is considered that uncertainty and disturbances are included in the Takagi-Sugeno fuzzy models representing the nonlinear plants. Robust stability of the closed system is analyzed by casting the systems into the diagonal norm bounded linear differential inclusions and by converting the analysis and design problems into the linear matrix inequality optimization, a numerical method for finding the maximum stable ranges of the fuzzy feedback linearization control gains is also proposed. To verify the effectiveness of the proposed scheme, the robust stability analysis and control design examples are given.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.05a
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• pp.119-122
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• 2002

The research Interest of this paper is focused on the efficient clustering task for an arbitrary color data. In order to tackle this problem, we have tiled to model the inherent uncertainty and vagueness of color data using fuzzy color model. By laking a fuzzy approach to color modeling, we could make a soft decision for the vague regions between neighboring colors. The proposed fuzzy color model defined a three dimensional fuzzy color ball and color membership computation method with the two inter-color distance measures. With the fuzzy color model, we developed a new fuzzy clustering algorithm for an efficient partition of color data. Each fuzzy cluster set has a cluster prototype which is represented by fuzzy color centroid.

• Journal of the Korean Institute of Intelligent Systems
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• v.2 no.3
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• pp.40-49
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• 1992

In this paper, an approach to identify fuzzy rules is proposed. The decision of the optimal number of fuzzy rule is made by means of fuzzy c-means clustering. The identification of the parameters of fuzzy implications is carried out by use of genetic algorithms. For the efficinet and fast parameter identification, the reduction thechnique of search areas of genetica algorithms is proposed. The feasibility of the proposed approach is evaluated through the identification of the fuzzy model to describe an input-output relation of Gas Furnace. Despite the simplicity of the propsed apprach the accuracy of the identified fuzzy model of gas furnace is superior as compared with that of other fuzzy modles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.425-430
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• 2002

An automatic transmission model using the bond graph techniques is developed for analyzing shift characteristics of vehicles. Bond graph models can be systemically manipulated to yield state space equations of standard form. Bond graph techniques are applied for modeling overall automatic transmission systems and shift models. A fuzzy controller is synthesized for the verification of a shifting model in the ${1^st} gear to the {2^nd}$ gear. Simulation results show the fitness of models by the bond graph techniques.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.5
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• pp.9-18
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• 1997

The petri net is a graphic model which is adaptable in modeling a complex concurrent parallel ssystem, and it is widely used in the fields of industrial enginering, computer science, electric engineeringand chemistry. Recently, the net is applied to the communication protocol, and extended to represent complex systems. There are several extended petri nets named as TPN (timed petri net), SPN (stochastic petri net), FPN(fuzzy petri net) and TFPN(timed fuzzy petri net). Accodingly, this SPN (stochastic petri net), FPN (fuzzy petri net) and TFPN(timed fuzzy petri net). Accodingly, this paper proposes an advanced communication protocol modeling method using the fuzzy value of the transition and firing delay time as the arguments of the function. The proposed method can produce clearer firing rules, and it is supposed to be used to design and analyse communication protocols in great effection.