• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.4
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• pp.232-239
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• 2015

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.11
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• pp.9-21
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• 2009

This paper proposes the alternative observer and controller design scheme based on T-S fuzzy model. Nonlinear systems are represented by fuzzy models since fuzzy logic systems are universal approximators. In order to estimate the unmeasurable states of a given unknown nonlinear system, T-S fuzzy modeling method is applied to get the dynamics of an observation system. T-S fuzzy system uses the linear combination of the input state variables and the modeling applications of them to various kinds of nonlinear systems can be found. The proposed indirect adaptive fuzzy observer based on T-S fuzzy model can cope with not only unknown states but also unknown parameters. The proposed controller is based on a simple output feedback method. Therefore, it solves the singularity problem, without any additional algorithm, which occurs in the inverse dynamics based on the feedback linearization method. The adaptive fuzzy scheme estimates the parameters and the feedback gain comprising the fuzzy model representing the observation system. In the process of deriving adaptive law, the Lyapunov theory and Lipchitz condition are used. To show the performance of the proposed observer and controller, they are applied to an inverted pendulum on a cart.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.407-414
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• 2000

The friction pendulum type seismic isolation system (FPS) has been developed to provide a simple and effective way to achieve earthquake resistance for buildings . The major advantages are: the isolation frequency can be easily achieved by designing a curvature of the surface and does not depend on the supported weight of a structure. The function of carrying vertical load is separated to the function of providing horizontal stiffness. Next the friction provides sufficient energy dissipation to protect the structure from earthquake response and resistance to the weak external disturbances such as wind load and ground vibrations due to traffic. In this paper, the friction coefficients are evaluated from number of experiments on the FPS test specimens. The relations between friction coefficient and the test waveform, velocity, and pressure are reviewed and further works are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.499-502
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• 1996

In this paper, we propose a fuzzy iterative learning controller(FILC). It can control fully unknown dynamic plants through iterative learning. To design learning controllers based on the steepest descent method, it is one of the difficult problems to identify the change of plant output with respect to the change of control input(.part.e/.part.u). To solve this problem, we propose a method as follows: first, calculate .part.e/.part.u using a similarity measure and information in consecutive time steps, then adjust the fuzzy logic controller(FLC) using the sign of .part.e/.part..u. As learning process is iterated, the value of .part.e/.part.u is reinforced. Proposed FILC has the simple architecture compared with previous other controllers. Computer simulations for an inverted pendulum system were conducted to verify the performance of the proposed FILC.

• Physical Therapy Korea
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• v.14 no.4
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• pp.7-13
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• 2007

The purpose of this study was to investigate correlations among objective measurements of spasticity in patients with brain lesions. Thirty-two stroke and traumatic brain injury subjects participated in the study. Spasticity was quantified using the knee first flexion angle, relaxation index obtained from a pendulum drop test, and the amplitude of a knee tendon reflex test. Pearson's product correlation coefficient was used to examine relationships among these measurements of spasticity. There was a significant positive correlation between the relaxation index and knee first flexion angle in patients with brain lesions (r=.895, p<.01). There was also significant negative correlation between the amplitude of knee tendon reflex and relaxation index (r=-.612, p<.01), and between amplitude and knee first flexion angle (r=-.537, p<.01). Thus, it is possible to use the knee first flexion angle as an objective measure of spasticity, rather than relaxation index, which is more complicated to obtain. Further studies are needed to explore the effects of functional improvement and long-lasting carryover effects of spasticity using a simple objective measure such as the knee first flexion angle from a pendulum test.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2001.09a
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• pp.356-363
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• 2001

The friction pendulum type seismic isolation system (FPS) using the PTFE based materials has been developed to provide a simple and effective way to achieve earthquake resistance for buildings. PTFE matrials are soft and apt to be deformed easily after a few working cycles. Instead of the usual PTFE materials, the Polyimide material was used in this research. Polyimide is harder than PTFE, but has smaller friction coefficient and longer duration fur usage. In this paper, various kinds of PTFE materials were tested to define the frictional characteristics compared with the Polyimide material. FPS was manufactured with fine surface roughness and used with Polyimide material to show the seismic isolation efficiency, and life duration when applied to a rigid mass model and a 5 stole frame model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1347-1352
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• 2003

In periodic cyclic structures, small property irregularity of their substructured often causes significant difference in their dynamic responses, which results in unpredicted premature failures. The small irregularity and the resulting phenomenon are called the mistuning and the vibration localization, respectively. In this paper a simple coupled multi-pendulum system is employed to investigate the effects of the stiffness mistuning and the phase difference in excitation force on the vibration localization of periodic cyclic structures.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2280-2282
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• 2000

This paper presents a simple and new digital redesign algorithm for fussy-model-based controllers. In the first stage, a continuous-time TS fuzzy model is constructed for a given continuous-time nonlinear system and a corresponding continuous-time fuzzy-model-based controller is established based on the existing controller synthesis algorithms. In the second stage, the continuous-time fuzzy-model-based controller is converted to equivalent discrete-time fuzzy-model-based controller, aiming at maintaining the property of the analogue controlled system, which are called intelligent digital redesign. Finally, the proposed method is applied to the digital control of inverted pendulum system to shows the effectiveness and the feasibility of the method.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3013-3015
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• 2000

The stabilization control of Inverted Pendulum(IP) system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of conventional techniques such as the pole placement and the optimal control based on the local linearizations have narrow stabilizable regions, At the same time, the fine tunings of their gain parameters are also troublesome, Thus, in this paper, an Evolving Neural Network ControlleY(ENNC) which its structure and its connection weights are optimized simultaneously by Real Variable Elitist Genetic Algorithm (RVEGA) was presented for stabilization of an IP system with nonlinearity, This proposed ENNC was described by a simple genetic chromosome. Through the simulation and experimental results, we showed that the finally acquired optimal ENNC was very useful in the stabilization control of IP system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.12
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• pp.994-1000
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• 2002

In periodically repeated cyclic structures, small property irregularity of their substructures often causes significant difference in their dynamic responses. which results in unpredicted premature failures. The small irregularity and the resulting phenomenon are called the mistuning and the vibration localization. respectively. In this paper, the vibration localization phenomena due to mistuned coupling effects are investigated. To effectively achieve the objective, a simple coupled multi-pendulum system Is employed. The results show that if there exists some coupling stiffness irregularity, vibration localization may occur and becomes more predominant as the number of substructures increases.