• 수산해양기술연구
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• 제59권1호
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• 한국지능시스템학회논문지
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• 제13권6호
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• pp.722-728
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• 2003

In this paper, we propose a fuzzy traffic controller of Sugeno`s fuzzy model so as to model the nonlinear characteristics of controlling the traffic light. It use a degree of the traffic congestion of the preceding roads as an input so that it can cope with traffic congestion appropriately, which causes the loss of fuel and our discomfort. First, in order to construct fuzzy traffic controller of Sugeno`s fuzzy model, we model the control process of the traffic light by using Mamdani`s fuzzy model, which has the uniform membership functions of the same size and shape. Second, we make Mamdani`s fuzzy model with the non-uniform membership functions so that it can exactly reflect the knowledge of experts and operators. Last, we construct the fuzzy traffic controller of Sugeno`s fuzzy model by learning from the input/output data, which is retrieved from Mamdani`s fuzzy model with the non-uniform membership functions. We compared and analyzed the fixed traffic light controller, the fuzzy traffic controller of Mamdani`s fuzzy model and the fuzzy traffic controller of Sugeno`s fuzzy model by using the delay time and the proportion of the entered vehicles to the occurred vehicles. As a result of comparison, the fuzzy traffic controller of Sugeno`s fuzzy model showed the best performance.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.664-667
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• 2003

We propose a frizzy traffic controller of Sugeno's fuzzy model so as to model the nonlinear characteristics of controlling the traffic light. It uses a degree of the traffic congestion of the preceding roads as an input so that it can cope with traffic congestion appropriately, which causes the loss of fuel and our discomfort. In order to construct fuzzy traffic controller of Sugeno's fuzzy model we first model the control process of the traffic light by using Mamdani's fuzzy model, which has the uniform membership functions of the same size and shape. Next we make Mamdani's fuzzy model with the non-uniform membership functions so that it can exactly reflect the knowledge of experts and operators. Lastly, we construct the fuzzy traffic controller of Sugeno's fuzzy model by learning from the input/output data, which is retrieved from Mamdani's fuzzy model with the non-uniform membership functions. We compared and analyzed the service level of the traffic light controllers by using the delay time. As a result of comparison, the fuzzy traffic controller of Sugeno's fuzzy model shows the best service level of them.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.356-362
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• 2002

In this paper, well-known Takagi-Sugeno fuzzy model is used as the nonlinear plant model and uncertainty is assumed to be included in the model structure with known bounds. Based on the fuzzy models, a numerical robust stability analysis for the fuzzy feedback linearization regulator is presented using Linear Matrix Inequalities (LMI) Theory. For these structured uncertainty, the closed system can be cast into Lur'e system by simple transformation. From the LMI stability condition for Lur'e system, we can derive the robust stability condition for the fuzzy feedback linearization regulator based on Takagi-Sugeno fuzzy model. The effectiveness of the proposed analysis is illustrated by a simple example.

• 한국수자원학회논문집
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• 제44권7호
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• pp.523-536
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• 2011

본 연구의 목적은 중소하천에서의 홍수예측을 위해 사용되는 기존의 수문학적 모형이 가지고 있는 문제점을 개선한 홍수예측 모형을 개발하는데 있다. 이를 위해 기존의 수문학적 강우-유출 모형에서 사용되는 많은 수문학적 자료 및 매개변수들의 사용 없이 오직 수위 및 강우측정 자료만을 이용하여 홍수를 예측할 수 있는 Takagi-Sugeno 퍼지 추론기법과 신경망을 연계한뉴로-퍼지홍수예측 모형을 구축하고자 하였다. 뉴로-퍼지 홍수예측 모형의 예측정확도는 입력자료로 사용되는 강우와 수위 자료의 시간적 분포 및 자료의 수에 의해 결정된다. 따라서 본 연구에서는 홍수예측 모형 구축을 위한 최적 입력 자료 조합 선정을 위해 다양한 강우와 수위의 입력자료 조합을 구성하여 적용하였고, 이를 통해 홍수 예측을 위한 뉴러-퍼지 홍수예측 모형의 최적 입력 자료 조합을 선정하였다.

• 한국수자원학회논문집
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• 제44권7호
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• pp.537-551
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• 2011

본 연구에서는 앞선 연구를 통해 선정된 최적 입력 자료 조합을 이용하여 한강수계의 왕숙천과 금강유역의 갑천에 대한 Takagi-Sugeno 퍼지기법과 신경망을 연계한 뉴로-퍼지 홍수예측 모형을 구축하였다. 구축된 뉴로-퍼지 홍수예측 모형을 한강수계의 왕숙천과 금강유역의 갑천에 적용하여 30분, 60분, 90분, 120분, 150분, 180분의 선행시간에 대해 각각 홍수예측을 수행하였다. 선행시간별 예측수위를 관측수위와 비교한 결과 안정되고 정확도 높은 홍수예측을 하는 것을 확인할 수 있었다. 추가적으로 정량적 평가를 위해 평균제곱근 오차(Root Mean Square Error)와 같은 통계지표를 산정하여 모형의 적용성을 검증하였다. 검증 결과 모든 통계지표에서 큰 오차 없이 성공적으로 홍수예측이 모의됨을 확인할 수 있었다. 본 연구결과는 향후 중소하천에서 충분한 선행시간을 확보한 정확도 높은 홍수정보시스템의 구축에 활용할 수 있을 것으로 판단된다.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.130-135
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• 2007

In this paper, a direct model reference adaptive fuzzy control (MRAFC) scheme is developed for the plant model whose structure is represented by the MIMO Takagi-Sugeno fuzzy model. The MRAFC scheme is proposed to provide asymptotic tracking of a reference signal lot the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee that all signals in the closed-loop system are bounded. In addition, the plant state tracks the state of the reference model asymptotically with time tot any bounded reference input signal.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권4호
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• pp.277-283
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• 2013

In this study, we propose a novel method for modeling dynamic hysteresis. Hysteresis is a widespread phenomenon that is observed in many physical systems. Many different models have been developed for representing a hysteretic system. Among them, the Duhem model is a classical nonlinear dynamic hysteresis model satisfying the properties of hysteresis. The purpose of this work is to develop a novel method that expresses the local dynamics of the Duhem model by a linear system model. Our approach utilizes a certain type of fuzzy system that is based on Takagi-Sugeno (T-S) fuzzy models. The proposed T-S fuzzy Duhem model is achieved by fuzzy blending of the linear system model. A simulated example applied to shape memory alloy actuators, which have typical hysteretic properties, illustrates the applicability of our proposed scheme.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.385-392
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• 2002

This paper introduces a new approach to analysis of error convergence for a class of iterative teaming control systems. Firstly, a nonlinear plant is represented using a Takagi-Sugeno(T-S) fuzzy model. Then each iterative learning controller is designed for each linear plant in the T-S fuzzy model. From the view point of two-dimensional(2-D) system theory, we transform the proposed learning systems to a 2-D error equation, which is also established if the form of T-S fuzzy model. We analyze the error convergence in the sense of induced L$_2$-norm, where the effects of disturbances and initial conditions on 2-D error are considered. The iterative teaming controller design problem to guarantee the error convergence can be reduced to the linear matrix inequality problem. This method provides a systematic design procedure for iterative teaming controller. A simulation example is given to illustrate the validity of the proposed method.

• 한국지능시스템학회논문지
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• 제12권5호
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• pp.481-486
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• 2002

In this paper, a new on-line parameter estimation methodology for the general continuous time Takagi-Sugeno(T-5) fuzzy model whose parameters are poorly known or uncertain is presented. An estimator with an appropriate adaptive law for updating the parameters is designed and analyzed based on the Lyapunov theory. The adaptive law is designed so that the estimation model follows the plant parameterized model. By the proposed estimator, the parameters of the T-S fuzzy model can be estimated by observing the behavior of the system and it can be a basis for the indirect adaptive fuzzy control. Based on the derived design method, the parameter estimation for controllable canonical T-S fuzzy model is also Presented.