• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.111-118
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• 2004

In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the solution of the tracking problem for mobile robots. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting the fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet transform. The basic idea of our wavelet based FNN is to realize the process of fuzzy reasoning of wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. And our network can automatically identify the fuzzy rules by modifying the connection weights of the networks via the gradient descent scheme. To verify the efficiency of our network structure, we evaluate the tracking performance for mobile robot and compare it with those of the FNN and the WFM.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.635-639
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• 2004

In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the modeling of chaotic nonlinear systems. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting the fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet transform. The basic idea of our wavelet based FNN is to realize the process of fuzzy reasoning of wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. And our network can automatically identify the fuzzy rules by modifying the connection weights of the networks via the gradient descent scheme. To verify the efficiency of our network structure, we evaluate the modeling performance for chaotic nonlinear systems and compare it with those of the FNN and the WFM.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2001년도 춘계학술대회 학술발표 논문집
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• pp.57-60
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• 2001

In this paper, we propose growing algorithm of wavelet neural network. It is growing algorithm that adds hidden nodes using wavelet frame which approximately supports orthogonality in wavelet neural network based on wavelet theory. The result of this processing can be reduced global error and progresses performance efficiency of wavelet neural network. We apply the proposed algorithm to approximation problem and evaluate effectiveness of proposed algorithm.

• 대한전자공학회논문지TE
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• 제39권4호
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• pp.363-369
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• 2002

본 논문은 적응성 뉴로-퍼지 인터페이스 시스템(Adaptive Neuro-Fuzzy Inference System : ANFIS)과 웨이브렛 변환 다중해상도 분해(multi-resolution Analysis : MRA)을 기반으로 한 웨이브렛 신경망을 가지고 임의의 비선형 함수 학습 근사화를 개선하는 것이다. ANFIS 구조는 벨형 퍼지 소속 함수로 구성이 되었으며, 웨이브렛 신경망은 전파 알고리즘과 역전파 신경망 알고리즘으로 구성되었다. 이 웨이브렛 구성은 단일 크기이고, ANFIS 기반 웨이브렛 신경망의 학습을 위해 역전파 알고리즘을 사용하였다. 1차원과 2차원 함수에서 웨이브렛 전달 파라미터 학습과 ANFIS의 벨형 소속 함수를 이용한 ANFIS 모델 기반 웨이브렛 신경망의 웨이브렛 기저 수 감소와 수렴 속도 성능이 기존의 알고리즘 보다 개선되었음을 확인하였다.

• Transactions on Control, Automation and Systems Engineering
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• 제2권3호
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• pp.169-174
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• 2000

In this paper, Haar wavelet-based neural network is described for the identification and control of discrete-time nonlinear dynamical systems. Wavelets are suited to depict functions with local nonlinearities and fast variations because of their intrinsic properties of finite support and self-similarity. Due to the orthonormal properties of Haar wavelet functions, wavelet neural networks result in a greatly simplified training problem. This wavelet-based scheme performs adaptively both the identification of nonlinear functions and the control of the overall system, while the multilayer neural network is applied to the control system just after its sufficient learning of the unknown functions. Simulation shows that the wavelet network can be a good alternative to a multilayer neural network with backpropagation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(3)
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• pp.15-168
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• 2001

In this paper, we propose growing algorithm of wavelet neural network. It is growing algorithm that adds hidden nodes using wavelet frame which approximately supports orthogonality in wavelet neural network based on wavelet theory. The result of this processing can be reduced global error and progresses performance efficiency of wavelet neural network. We apply the proposed algorithm to approximation problem and evaluate effectiveness of proposed algorithm.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.552-563
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• 2005

In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of the wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of a mobile robot via the gradient descent (GD) method. In addition, an approach that uses adaptive learning rates for training of the WFNN controller is driven via a Lyapunov stability analysis to guarantee fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control results of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2681-2683
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• 2005

In this paper, we present the structure of fuzzy neural network(FNN) based on wavelet function, and apply this network structure to the identification of nonlinear systems. For adjusting the shape of membership function and the connection weights, the parameter learning method based on the gradient descent scheme is adopted. And an approach that uses adaptive learning rates is driven via a Lyapunov stability analysis to guarantee the fast convergence. Finally, to verify the efficiency of our network structure. we compare the Identification performance of proposed wavelet based fuzzy neural network(WFNN) with those of the FNN, the wavelet fuzzy model(WFM) and the wavelet neural network(WNN) through the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2521-2525
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• 2005

In this paper, we presented a predictive control technique, which is based on wavelet neural network (WNN), for the control of chaotic systems whose precise mathematical models are not available. The WNN is motivated by both the multilayer feedforward neural network definition and wavelet decomposition. The wavelet theory improves the convergence of neural network. In order to design predictive controller effectively, the WNN is used as the predictor whose parameters are tuned by error between the output of actual plant and the output of WNN. Also the training method for the finding a good WNN model is the Extended Kalman algorithm which updates network parameters to converge to the reference signal during a few iterations. The benefit of EKF training method is that the WNN model can have better accuracy for the unknown plant. Finally, through computer simulations, we confirmed the performance of the proposed control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1832-1833
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• 2006

This paper presents a design method of the wavelet neural network(WNN) controller based on a direct adaptive control scheme for the intelligent control of Autonomous Underwater Vehicle(AUV) steering systems. The neural network is constructed by the wavelet orthogonal decomposition to form a wavelet neural network that can overcome nonlinearities and uncertainty. In our control method, the control signals are directly obtained by minimizing the difference between the reference track and original signal of AUV model that is controlled through a wavelet neural network. The control process is a dynamic on-line process that uses the wavelet neural network trained by gradient-descent method. Through computer simulations, we demonstrate the effectiveness of the proposed control method.