• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.142-147
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• 1996

In this paper, we describe the algorithm which controls an unknown nonlinear system with multilayer neural network. The multilayer neural network can be used to approximate any continuous function to any desired degree of accuracy. With the former fact, we approximate unknown nonlinear function on the nonlinear system by using of multilayer neural network. The weight-update rule of multilayer neural network is derived to satisfy Lyapunov stability. The whole control system constitutes controller using feedback linearization method. The weight of neural network which is used to implement nonlinear function is updated by the derived update-rule. The proposed control algorithm is verified through computer simulation.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.9
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• pp.41-49
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• 1997

In this paper, we describe the algorithm which controls an unknown nonlinear system with disturbance a using multilayer neural network. The multilayer neural network can be used to approximate any continuous function to any desired degree of accuracy. With the former fact, we approximate an unknown nonlinear system by using of multilayer neural netowrk. WE include a disturbance among the modelling error, and the weight-update rule of multilayer neural network is derived to satisfy Laypunov stability. The whole control system constitutes controller using the feedback linearization method. The weight of neural network which is used to implement nonlinear function is updated by the derived update-rule. The proposed control algorithm is verified through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.74-74
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• 2000

This paper presents a neural network controller for a rigid-link electrically-driven robot. The proposed controller is designed in conjunction with three neural networks approximating for complicated nonlinear functions. Particularly, the fact, different from conventional schemes, is that the neural network based current observer is used. Therefore, no accurate measurement of the actuator driving current is required. In the proposed controller-observer scheme, the derived weight update rule guarantees the stability of closed-loop system in the sense of Lyapunov. The effectiveness and performance of the proposed method are demonstrated through computer simulation.

• Journal of Korea Multimedia Society
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• v.10 no.8
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• pp.1004-1016
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• 2007

In this paper we proposed a Weight-Update-Control Adaptive Noise Canceller which improves speech when environmental noise is stationary and it is hard to acquire a reference signal. Adaptive Noise Canceller(ANC) needs a reference signal, but it is not easy to measure pure noise without voice for reference in factory. Because there are mixed various mechanical noise and workers' voice. Therefore ANC is not suitable to reduce background noise. So we proposed the method that uses an arbitrary constant as an input signal and inputs microphone signal to the reference signal. The noise is eliminated using updated weights in non-speech range. In speech range the weight is fixed and the modified voice is acquired then voice is restored through transversal filter. The proposed method is based on facts that the factory noise is stationary and the noise is not changed in short conversation range. As a result of simulation using MATLAB, we confirmed that the proposed method is effective for reducing factory noise and has high signal to noise ratio(SNR).

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.936-939
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• 1996

In this paper, two specially designed associative mapping memories, called Associative Mapping Elements(AME) and Multiple-Digit Overlapping AME(MDO-AME), are presented for learning of nonlinear functions including kinematics and dynamics of robot manipulators. The proposed associative mapping memories consist of associative mapping rules(AMR) and weight update rules(WUR) which guarantee generalization and specialization of input-output relationship of learned nonlinear functions. Two simulation results, one for supervised learning and the other for unsupervised learning, are given to demonstrate the effectiveness of the proposed associative mapping memories.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.56-60
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• 1992

This paper addresses the problem of designing a neural network based controller for a discrete-time nonlinear dynamical system. Using two multi-layered neural networks we first design an indirect controller the weights of which are updated by the informations obtained from system identification. The weight update is executed by parameter optimization method under Lagrangian formulation. For the nonlinear dynamical system, we define several cost functions and by computer simulations analyze the control performances of them and the effects of penalty-weighting values.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.112-124
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• 2004

A neural network based adaptive reconfigurable flight controller is presented for a class of discrete-time nonlinear flight systems in the presence of variations of aerodynamic coefficients and control effectiveness decrease caused by control surface damage. The proposed adaptive nonlinear controller is developed making use of the backstepping technique for the angle of attack, sideslip angle, and bank angle command following without two time separation assumption. Feedforward multilayer neural networks are implemented to guarantee reconfigurability for control surface damage as well as robustness to the aerodynamic uncertainties. The main feature of the proposed controller is that the adaptive controller is developed under the assumption that all of the nonlinear functions of the discrete-time flight system are not known accurately, whereas most previous works on flight system applications even in continuous time assume that only the nonlinear functions of fast dynamics are unknown. Neural networks learn through the recursive weight update rules that are derived from the discrete-time version of Lyapunov control theory. The boundness of the error states and neural networks weight estimation errors is also investigated by the discrete-time Lyapunov derivatives analysis. To show the effectiveness of the proposed control law, the approach is i]lustrated by applying to the nonlinear dynamic model of the high performance aircraft.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.189-195
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• 2000

The mathematical solutions of the stability convergence are important problems in system control. In this paper such problems are analyzed and resolved for system control using multilayer neural networks. We describe an algorithm to control an unknown nonlinear system with a disturbance, using a multilayer neural network. We include a disturbance among the modeling error, and the weight update rules of multilayer neural network are derived to satisfy Lyapunov stability. The overall control system is based upon the feedback linearization method. The weights of the neural network used to approximate a nonlinear function are updated by rules derived in this paper . The proposed control algorithm is verified through computer simulation. That is as the weights of neural network are updated at every sampling time, we show that the output error become finite within a relatively short time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.145-150
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• 1997

In this paper is studied a method of fuzzy logic control based on possibly inconsistent if-then rules representing uncertain knowledge or imprecise data. In most cases of practical applications adopting fuzzy if-then rule bases, inconsistent rules have been considered as ill-defined rules and, thus, not allowed to be in the same rule base. Note, however, that, in representing uncertain knowledge by using fuzzy if-then rules, the knowledge sometimes can not be represented in literally consistent if-then rules. In this regard, when it is hard to obtain consistent rule base, we propose the weighted rule base fuzzy logic control depending on output performance using neural network and we will derive the weight update algorithm. Computer simulations show the proposed method has good performance to deal with the inconsistent rule base fuzzy logic control. And we discuss the real application problems.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1787-1790
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• 2005

We have developed satellite devices for fine attitude control of the Science & Technology Satellite-2 (STSAT-2) scheduled to be launched in 2007. The analog sun sensors which have been continuously developed since the 1990s are not adequate for satellites which require fine attitude control system. From the mission requirements of STSAT-2, a compact, fast and fine digital sensor was proposed. The test of the fine attitude determination for the pitch and roll axis, though the main mission of STSAT-2, will be performed by the newly developed FDSS. The FDSS use a CMOS image sensor and has an accuracy of less than 0.01degrees, an update rate of 20Hz and a weight of less than 800g. A pinhole-type aperture is substituted for the optical lens to minimize the weight while maintaining sensor accuracy by a rigorous centroid algorithm. The target process speed is obtained by utilizing the Field Programmable Gate Array (FPGA) in acquiring images from the CMOS sensor, and storing and processing the data. This paper also describes the analysis of the optical performance for the proper aperture selection and the most effective centroid algorithm.