• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.624-629
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• 1998

Evolutionary computation techniques can solve search problems using simulated evolution based on the ‘survival of the fittest’. Recently, the genetic programming (GP) which evolves computer programs using the genetic algorithm was introduced. In this paper, the genetic programming technique is used in order to design a rule based controller consisting of condition-action rules for an unknown system. No a priori knowledge about the structure of the controller is needed. Representation of a solution, functions and terminals in GP are analyzed, and a method of constructing a fuzzy logic controller using the obtained rule based controller is described. A simulation example using a nonlinear system shows the validity and efficiency of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.284-284
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• 2000

In adaptive fuzzy control systems. fuzzy systems are used to approximate the unknown plant nonlinearities. Until now. most of the papers in the field of controller design for nonlinear system using fuzzy systems considers the affine system with fixed grid-rule structure based on system state availability. This paper considers observer-based nonlinear controller and dynamic fuzzy rule structure. Adaptive laws for fuzzy parameters for state observer and fuzzy rule structure are established so that the whole system is stable in the sense of Lyapunov.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.67.2-67
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• 2001

In the adaptive fuzzy sliding mode control, from a set of fuzzy IF-THEN rules adaptive fuzzy sliding mode control whose parameters are adjusted on-line according to some adaptation laws is constructed for the purpose of controlling the plant to track a desired trajectory. Most of the research works in nonlinear controller design using fuzzy systems consider the affine system with fixed grid-rule structure based on system state availability. The fixed grid-rule structure makes the order of the controller big unnecessarily, hence the on-line fuzzy rule structure and fuzzy observer based adaptive fuzzy sliding mode controller is proposed to solve system state availability problems. Therefore adaptive laws of fuzzy parameters ...

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1154-1160
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• 1999

A rule based controller is constructed for multiple robots accomplishing a given task in unknown environments by using genetic programming. The example task is playing a simplified soccer game, and the controller for robots that governs emergent cooperative behavior is successfully found using the proposed procedure A neural network controller constructed using the rule based controller is shown to be applicable in a more complex environment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2308-2310
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• 2001

In the adaptive fuzzy sliding mode control, from a set of a fuzzy IF-THEN rules adaptive fuzzy sliding mode control whose parameters are adjusted on-line according to some adaptation laws is constructed for the purpose of controlling the plant to track a desired trajectory. Most of the research works in nonlinear controller design using fuzzy systems consider the affine system with fixed grid-rule structure based on system state availability. The fixed grid-rule structure makes the order of the controller big unnecessarily, hence the on-line fuzzy rule structure and fuzzy observer based adaptive fuzzy sliding mode controller is proposed to solve system state availability problems. Therefore, adaptive laws of fuzzy parameters for state observer and fuzzy rule structure are established implying whole system stability in the sense of Lyapunov.

• 전자공학회논문지B
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• 제28B권7호
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• pp.557-565
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• 1991

The activated sludge process is a commonly used method for terating sewage and waste waters. The process is chatacterized by a lack of measurement instrumentations and control goals that are not always clear and not well understood. In such process, fuzzy control concept may be able to be adapted, do this paper presents a design method for fuzzy controller based on a selected sub-rule set from the total rule set and a multivariable fuzzy reasoning algorithms. In order to achievesystematic and efficient control of the activated sludge process under a great deal of disiutbances and a variety of perfotmance characteristics, a top-level rule-based fuzzy controller os proposed which provises lower-controllers with the suitable set-points according tothe onput-output states of the process.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.703-707
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• 1991

During the past several years, fuzzy control has emerged as one of the most active and fruitful areas for reaserch in the applications of fuzzy set theory. A key component of the fuzzy controller is a rule-based system which provides a linguistic description of control strategy. This strategy has the form of a collection of fuzzy conditional statements which are implemented and manipulated using fuzzy set theory. In this paper, we propose the rule-based controller for DC motor speed control. The result of performance compare with PID controller to verify the validity of proposed algorithm.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2002년도 춘계학술대회논문집
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• pp.261-266
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• 2002

In this Paper, we Propose model-based tuning rules of the PID controller incorporating with genetic algorithms. Three sets of optimal PID parameters for step set-point tracking are obtained based on the first-order time delay model of plants and a genetic algorithm which minimizes performance indices(IAE, ISE and ITAE). Then tuning rules are obtained using the tuned parameter sets, potential rule models and a genetic algorithm. Simulation is carried out to verify the effectiveness of the proposed rules.

• 한국정밀공학회지
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• 제27권2호
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.