• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1700-1705
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• 2003

In this paper, the automatic steering system for unmanned vehicle was developed. The vision system is used for the lane detection system. This paper defines two modes for detecting lanes on a road. First is searching mode and the other is recognition mode. We use inverse perspective transform and a linear approximation filter for accurate lane detections. The PD control theory is used for the design of the controller to compare with $H_{\infty}$ control theory. The $H_{\infty}$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_{\infty}$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_{\infty}$ controller is robust for the disturbances in the test results.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.726-731
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• 2004

This paper proposes a pulse-width-modulation (PWM) controller design technique using intelligent digital redesign. Intelligent digital redesign is to convert a well-designed analog fuzzy-model-based controller into an equivalent pulse-amplitude-modulation (PAM) digital controller maintaining the original analog control system in the sense of state-matching. In similar line of conversion concept, the redesigned PAM intelligent digital controller is converted into a PWM controller using the equivalent area principle. To convincingly visualize the proposed technique, an computer simulation example-attitude control of nonlinear artificial satellite system is included.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.3
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.177-180
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• 2001

The subject of this paper is to efficient Pm duty contort for two DC motor synchronousness in the system. Fuzzy controller have been successfully applied to many uncertain and complex industrial plant. So, It adapted fuzzy controller using compositional fuzzy rule so that change PH duty for speed control if the length of destination is different, And for unknow plant, it is the study to make the unknow transfer function system with fuzzy control method. This controller has been successfully applied to Pm duty control for the system synchronousness.

• Journal of the Korean Society of Industry Convergence
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• v.10 no.4
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• pp.271-274
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• 2007

In this paper, we propose a intelligent controller design method for the water level control of the power plant drum in the form of nonminimum phase system. The proposed method is based on T. Takagi and M. Sugeno's fuzzy model. And we illustrate the improved characteristics as the simulation results, comparing with the conventional the PID and LQ controller design method.

• Journal of Electrical Engineering and information Science
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• v.2 no.3
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• pp.61-65
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• 1997

This paper proposes an intelligent controller for brushless DC motor and load with unknown nonlinear dynamics. The proposed intelligent control system consists of a plant identifier and PID controller with varying gains. The identifier is constructed using an Auto Regressive Moving Average (ARMA) model. In order to tune the parameters of the identifier and the gains of the PID controller efficiently, e also propose a modified Evolution Strategy. Experimental results show that the proposed intelligent controller for brushless DC motor has good control performance under unknown disturbance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.2
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• pp.139-145
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• 2002

In this paper, we proposed an intelligent digital redesign method for a class of fuzzy-model-based controllers, effective fur stabilization of continuous-time nonlinear systems. The TS fuzzy model is used to expend the results of the digital redesign technique to nonlinear systems. The proposed method utilized the recently developed LMI technique to obtain a digitally redesigned fuzzy-model-based controller. The intelligent digital redesign problem is converted to equivalent problem, and the LMI method is used to find the digitally redesigned fuzzy-model-based controller. The stabilization conditions of TS fuzzy model are derived for stabilization in the sense of Laypunov stability. In order to demonstrates the effectiveness and feasibility of the proposed controller design methodology, we applied this method to the single link flexible-joint robot arm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.129-132
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• 2003

This paper proposes a novel and efficient intelligent digital redesign technique for a Takagi-Sugeno (TS) fuzzy system. The term of intelligent digital redesign involves converting an existing analog fuzzy-model-based controller into an equivalent digital counterpart in the sense of state matching. In this paper, we suggest the discretization method based on the dual-rate sampling approximation is first proposed, and then attempt to globally match the states of the overall closed-loop TS fuzzy system with the pre-designed analog fuzzy-model-based controller and those with the digitally redesigned fuzzy-model-based controller. To show the feasibility and the effectiveness of the proposed method, a computer simulation is provided.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.1 no.1
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• pp.113-118
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• 2001

In this paper, we develop an optimal intelligent digital redesign method for a class of fuzzy-model-based controllers, effective for stabilization of continuous-time complex nonlinear systems. Takagi-Sugeno (TS) fuzzy model is used to extend the results of the classical digital redesign technique to complex nonlinear systems. Unlike the conventional intelligent digital redesign technique reported in the literature, the proposed method utilized the recently developed LMI optimization technique to obtain a digitally redesigned fuzzy-model-based controller. Precisely speaking, the intelligent digital redesign problem is converted to an equivalent optimization problem, and the LMI optimization method is used to find the digitally redesigned fuzzy-model-based controller. A numerical example is provided to evaluate the feasibility of the proposed approach.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.217-220
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• 2004

Controller that is designed in this paper is form that apply PID controller about Fuzzy algorithm. Fuzzy Controller that using this paper is can speak that compensation style fuzzy controller as form to solidify action of PID controller for plant. This is not form that autotuning the each PID coefficient. We Apply and examined the response character to AGC(Automatic Generation Control) system using designed controller.