• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1080-1085
• /
• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• Structural Engineering and Mechanics
• /
• v.36 no.3
• /
• pp.381-399
• /
• 2010

A fuzzy hybrid control technique using a semi-active tuned mass damper (STMD) has been proposed in this study for mitigation of wind induced motion of a tall building. For numerical simulation, a third generation benchmark is employed for a wind-excited 76-story building. A magnetorheological (MR) damper is used to compose an STMD. The proposed control technique employs a hierarchical structure consisting of two lower-level semi-active controllers (sub-controllers) and a higher-level fuzzy hybrid controller. Skyhook and groundhook control algorithms are used as sub-controllers. When a wind load is applied to the benchmark building, each sub-controller provides different control commands for the STMD. These control commands are appropriately combined by the fuzzy hybrid controller during realtime control. Results from numerical simulations demonstrate that the proposed fuzzy hybrid control technique can effectively reduce the STMD motion as well as building responses compared to the conventional hybrid controller. In addition, it is shown that the control performance of the STMD is superior to that of the sample TMD and comparable to an active TMD, but with a significant reduction in power consumption.

• Korean Journal of Mathematics
• /
• v.23 no.3
• /
• pp.457-478
• /
• 2015

In this paper we propose an iteration hybrid method for approximating a point in the intersection of the solution-sets of pseudomonotone equilibrium and variational inequality problems and the fixed points of a semigroup-nonexpensive mappings in Hilbert spaces. The method is a combination of projection, extragradient-Armijo algorithms and Manns method. We obtain a strong convergence for the sequences generated by the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.444-451
• /
• 2007

In this paper, we propose an improved reduction model and a reduction model-based hybrid smith-predictor fuzzy controller. The transient and steady-state responsed of the reduction model was evaluated. In tuning the controller, the parameters of PID and the factors fuzzy controllers were obtained from the reduced model and by using genetic algorithms, respectively. Simulation examples demonstrated a better performance of the proposed controller than conventional ones.

• Journal of applied mathematics & informatics
• /
• v.29 no.3_4
• /
• pp.603-619
• /
• 2011

To the best of our knowledge, it would probably be the first time in the literature that we clarify the relationship between Yamada's method and viscosity iteration correctly. We design iterative methods based on the hybrid steepest descent algorithms for solving variational inclusions, equilibrium problems. Our results unify, extend and improve the corresponding results given by many others.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.2 no.3
• /
• pp.58-67
• /
• 1992

This paper presents a method on applying Genetric Algorithms(GA), which is a well-know high performance optimizing algorithm, to construct the self-organizing fuzzy logic controller. Fuzzy logic controller considered in this paper utilized Sugeno's hybrid inference method. which has an advantage of simple defuzzification process in the inference engine. Genetic algorithm is used to find the iptimal parameters in the FLC. The proposed approach will be demonstrated using 2 d. o. f robot manipulator to verify its effectiveness.

• Journal of Korea Society of Industrial Information Systems
• /
• v.1 no.1
• /
• pp.63-85
• /
• 1996

This paper describes the applications of genetic algorithm to nonlinear constrained optimization problems. Genetic algorithms are combinatorial in nature, and therefore are computationally suitable for treating continuous and idstrete integer design variables. For several problems , the conventional genetic algorithms are ill-defined , which comes from the application of penalty function , encoding and decoding methods, fitness scaling, and premature convergence of solution. Thus, we develope a hybrid genetic algorithm to resolve these problems and present two examples to demonstrate the effectiveness of the methodology developed in this paper.

• Communications of the Korean Mathematical Society
• /
• v.31 no.4
• /
• pp.879-893
• /
• 2016

In this paper, we introduce three subgradient extragradient algorithms for solving pseudomonotone equilibrium problems. The paper originates from the subgradient extragradient algorithm for variational inequalities and the extragradient method for pseudomonotone equilibrium problems in which we have to solve two optimization programs onto feasible set. The main idea of the proposed algorithms is that at every iterative step, we have replaced the second optimization program by that one on a specific half-space which can be performed more easily. The weakly and strongly convergent theorems are established under widely used assumptions for bifunctions.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.3
• /
• pp.289-300
• /
• 2003

In this paper, we introduce an identification method in Fuzzy Relation-based Fuzzy Neural Networks (FRFNN) through a hybrid identification algorithm. The proposed FRFNN modeling implement system structure and parameter identification in the efficient form of "If...., then... " statements, and exploit the theory of system optimization and fuzzy rules. The FRFNN modeling and identification environment realizes parameter identification through a synergistic usage of genetic optimization and complex search method. The hybrid identification algorithm is carried out by combining both genetic optimization and the improved complex method in order to guarantee both global optimization and local convergence. An aggregate objective function with a weighting factor is introduced to achieve a sound balance between approximation and generalization of the model. The proposed model is experimented with using two nonlinear data. The obtained experimental results reveal that the proposed networks exhibit high accuracy and generalization capabilities in comparison to other models.er models.

• Proceedings of the IEEK Conference
• /
• 2000.11d
• /
• pp.195-198
• /
• 2000

Fractal image compression can reduce the size of image data by contractive mapping of original image. The mapping is affine transformation to find the block(called range block) which is the most similar to the original image. Fractal is very efficient way to reduce the data size. However, it has high distortion rate and requires long encoding time. In this paper, we present the simulation result of fractal and VQ hybrid systems which use different clustering algorithms, normal and improved competitive learning SOFM. The simulation results showed that the VQ hybrid fractal using improved competitive learning SOFM has better distortion rate than the VQ hybrid fractal using normal SOFM.