• Title/Summary/Keyword: Inverse optimal approach

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Design of Inverse Optimal TS Fuzzy Controllers (역최적 TS 퍼지 제어기의 설계)

  • 임채환;곽기호;박주영
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2001.12a
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    • pp.137-140
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    • 2001
  • In this paper, we design 75(Takagi-Sugeno) fuzzy controllers for the systems that can be represented by the 75 fuzzy model. We use inverse optimal approach in which the cost function is determined later than the Lyapunov function and its corresponding control input satisfying the design requirements such as stability and decay rate. The obtained design procedure is in the form of solving LMI(Linear Matrix Inequalities), thus very efficient in practice.

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Optimal control approach to resolve the redundancy of robot manipulators

  • Kim, Sung-Woo;Leen, Ju-Jang;Sugisaka, Masanori
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.234-239
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    • 1993
  • Most of the control problem is for the redundant manipulators use the pseudo-inverse control, thit is, the redundancy is resolved by the pseudo-inverse of the Jacobian matrix and then the controller is designed based on this resolution. However, this pseudo-inverse control has some problems when the redundant robot repeats the cyclic tasks. This is because the pseudo-inverse resolution is a local solution that generates the different configurations of the robot arm for the same hand position. Therefore it is necessary to find the global solution that maintains the optimal configuration of the robot for the repetitive tasks. In this paper, we want to propose a redundancy resolution method by the optimal theory that uses the calculus of variation. The problem formulations are : first to convert the optimal resolution problem to an optimal control problem and then to resolve the redundancy using the necessary conditions of optimal control.

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A Study on the Design of Optimal Variable Structure Controller using Multilayer Neural Inverse Identifier (신경 회로망을 이용한 최적 가변구조 제어기의 설계에 관한 연구)

  • 이민호;최병재;이수영;박철훈;김병국
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.32B no.12
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    • pp.1670-1679
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    • 1995
  • In this paper, an optimal variable structure controller with a multilayer neural inverse identifier is proposed. A multilayer neural network with error back propagation learning algorithm is used for construction the neural inverse identifier which is an observer of the external disturbances and the parameter variations of the system. The variable structure controller with the multilayer neural inverse identifier not only needs a small part of a priori knowledge of the bounds of external disturbances and parameter variations but also alleviates the chattering magnitude of the control input. Also, an optimal sliding line is designed by the optimal linear regulator technique and an integrator is introduced for solving the reaching phase problem. Computer simulation results show that the proposed approach gives the effective control results by reducing the chattering magnitude of control input.

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Design of Robust Fuzzy Controllers via Inverse Optimal Approach (역최적화 방법을 이용한 강인한 퍼지 제어기의 설계)

  • 곽기호;임재환;박주영
    • Journal of the Korean Institute of Intelligent Systems
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    • v.11 no.6
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    • pp.477-486
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    • 2001
  • In this paper , we study the problem of designing TS(Takagi-Sugeno) fuzzy controllers for the systems that can be approximated or represented by the TS fuzzy model. The main strategy used in this paper is the inverse optimal approach, in which the cost function is determined later than the Lyapunov function and its corresponding control input satisfying the design requirements such as stability, decay rate, and robustness against uncertainty. This approach is useful because it yields controllers satisfying the inherent robustness of optimal controllers as well as the considered design goals. The design procedures established in this paper are all in the from of solving LMIs(Iinear matrix inequalities). Since the LMIs arising in the design procedures can be solved within a given tolerance by the interior point methods. the design method of the paper are efficient in practice. The applicability of the proposed design procedures is demonstrated by design examples.

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Inverse Optimal Problem for Homing Guidance with Angular Constraint (충돌각 제어 호밍유도법칙의 역최적 문제)

  • Lee, Jin-Ik;Lee, Yong-In
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.35 no.5
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    • pp.412-418
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    • 2007
  • An inverse optimal problem for homing guidance with angular constraint is addressed. The gains of BPN(Biased PN) are investigated by duality analysis related to the weighting matrices of the performance index in the LQ control problem. Moreover, the criteria for the existence of optimal gains are derived from the generalized Riccati equation. Based on the conditions we achieve the gain set of BPN to be optimal solution to the LQ problem with terminal constraints. To validate and demonstrate the proposed approach 3-DOF simulations are carried out.

Inverse Kinematics Solution and Optimal Motion Planning for Industrial Robots with Redundancy (여유 자유도를 갖는 산업용 로봇의 역기구학 해석 및 최적 동작 계획)

  • Lee, Jong-Hwa;Kim, Ja-Young;Lee, Ji-Hong;Kim, Dong-Hyeok;Lim, Hyun-Kyu;Ryu, Si-Hyun
    • The Journal of Korea Robotics Society
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    • v.7 no.1
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    • pp.35-44
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    • 2012
  • This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

A NEW WAY FOR SOLVING TRANSPORTATION ISSUES BASED ON THE EXPONENTIAL DISTRIBUTION AND THE CONTRAHARMONIC MEAN

  • M. AMREEN;VENKATESWARLU B
    • Journal of applied mathematics & informatics
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    • v.42 no.3
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    • pp.647-661
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    • 2024
  • This study aims to determine the optimal solution to transportation problems. We proposed a novel approach for tackling the initial basic feasible solution. This is a critical step toward achieving an optimal or near-optimal solution. The transportation issue is an issue of distributing goods from several sources to several destinations. The literature demonstrates many ways to improve IBFS. In this work, to solve the IBFS, we suggested a new method based on the statistical formula called cumulative distribution function (CDF) in exponential distribution, and inverse contra-harmonic mean (ICHM). The spreadsheet converts transportation cost values into exponential cost cell values. The stepping-stone method is used to identify an optimum solution. The results are compared with other existing methodologies, the suggested method incorporates balanced, and unbalanced, maximizing the profits, random values, and case studies which produce more effective outcomes.

An Efficient Method for Solving a Multi-Item Newsboy Problem with a Budget-Constraint and a Reservation Policy (예산 제약과 예약 정책이 있는 복수 제품 신문 배달 소년 문제 해결을 위한 효율적 방법론)

  • Lee, Chang-Yong
    • Journal of Korean Society of Industrial and Systems Engineering
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    • v.37 no.1
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    • pp.50-59
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    • 2014
  • In this paper, we develop an efficient approach to solve a multiple-item budget-constraint newsboy problem with a reservation policy. A conventional approach for solving such problem utilizes an approximation for the evaluation of an inverse of a Gaussian cumulative density function when the argument of the function is small, and a heuristic method for finding an optimal Lagrangian multiplier. In contrast to the conventional approach, this paper proposes more accurate method of evaluating the function by using the normalization and an effective numerical integration method. We also propose an efficient way to find an optimal Lagrangian multiplier by proving that the equation for the budget-constraint is in fact a monotonically increasing function in the Lagrangian multiplier. Numerical examples are tested to show the performance of the proposed approach with emphases on the behaviors of the inverse of a Gaussian cumulative density function and the Lagrangian multiplier. By using sensitivity analysis of different budget constraints, we show that the reservation policy indeed provides greater expected profit than the classical model of not having the reservation policy.

Comparison of Two Meta-Analysis Methods: Inverse-Variance-Weighted Average and Weighted Sum of Z-Scores

  • Lee, Cue Hyunkyu;Cook, Seungho;Lee, Ji Sung;Han, Buhm
    • Genomics & Informatics
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    • v.14 no.4
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    • pp.173-180
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    • 2016
  • The meta-analysis has become a widely used tool for many applications in bioinformatics, including genome-wide association studies. A commonly used approach for meta-analysis is the fixed effects model approach, for which there are two popular methods: the inverse variance-weighted average method and weighted sum of z-scores method. Although previous studies have shown that the two methods perform similarly, their characteristics and their relationship have not been thoroughly investigated. In this paper, we investigate the optimal characteristics of the two methods and show the connection between the two methods. We demonstrate that the each method is optimized for a unique goal, which gives us insight into the optimal weights for the weighted sum of z-scores method. We examine the connection between the two methods both analytically and empirically and show that their resulting statistics become equivalent under certain assumptions. Finally, we apply both methods to the Wellcome Trust Case Control Consortium data and demonstrate that the two methods can give distinct results in certain study designs.

Evolutionary Computation Approach to Wiener Model Identification

  • Oh, Kyu-Kwon;Okuyama, Yoshifumi
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.33.1-33
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    • 2001
  • We address a novel approach to identify a nonlinear dynamic system for Wiener models, which are composed of a linear dynamic system part followed by a nonlinear static part. The aim of system identification here is to provide the optimal mathematical model of both the linear dynamic and the nonlinear static parts in some appropriate sense. Assuming the nonlinear static part is invertible, we approximate the inverse function by a piecewise linear function. We estimate the piecewise linear inverse function by using the evolutionary computation approach such as genetic algorithm (GA) and evolution strategies (ES), while we estimate the linear dynamic system part by the least squares method. The results of numerical simulation studies indicate the usefulness of proposed approach to the Wiener model identification.

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