• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.309-314
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• 2009

This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education. Control purpose is to satisfy balancing angle and desired trajectory tracking performance. The adaptive neuro-fuzzy controller has the Takagi-Sugeno(T-S) fuzzy structure. Back-propagation algorithm is used for updating weights in the fuzzy control. Control performances of the inverted pendulum system by PID control method and the adaptive neuro-fuzzy control method are compared. Control hardware of a DSP 2812 board is used to achieve the real-time control performance. Experimental studies are conducted to show successful control performances of the inverted pendulum system by the adaptive neuro-fuzzy control method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.155-160
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• 2006

In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권2호
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• pp.76-82
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• 2009

A Heating, Ventilating and Air Conditioning (HVAC) system is a nonlinear multi-input multi-output (MIMO) system. This system is very difficult to control the temperature and the humidity ratio of a thermal space because of complex nonlinear characteristics. This paper proposes an adaptive fuzzy output feedback control based on observer for the nonlinear HVAC system. The nonlinear HVAC system is linearized through dynamic extension. State observers are designed for estimating state variables of the HVAC system. Fuzzy systems are employed to approximate uncertain nonlinear functions of the HVAC system with unavailable state variables. The obtained controller compares with an adaptive feedback controller. Simulation is given to demonstrate the effectiveness of our proposed adaptive fuzzy method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.162.1-162
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• 2001

In this paper, the adaptive fuzzy system is used as an adaptive approximator for robot nonlinear dynamic. A theoretical justification for the adaptive approximator is proving that if the representive point(RP or switching function) and its derivative in sliding mode control are used as the inputs of the adaptive fuzzy system, the adaptive fuzzy system can approximate robot nonlinear dynamics in the neighborhood of the switching surface. Thus the fuzzy controller design is greatly simplified and at the same time, the fuzzy control rule can be obtained easily by the reaching condition. Based on this, a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.26-30
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• 1995

In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권2호
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• pp.107-113
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• 2004

This paper develops a adaptive fuzzy controller based fuzzy logic control for high performance of permanent magnet synchronous motor(PMSM) drives. In the proposed system, fuzzy control is used to implement the direct controller as well as the adaptation mechanism. The operation of the direct fuzzy controller and the fuzzy logic based adaptation mechanism is studied. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the adaptive fuzzy controller is evaluated by simulation for various operating conditions. The validity of the proposed adaptive fuzzy controller is confirmed by performance results for PMSM drive system.

• Journal of Advanced Marine Engineering and Technology
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• 제38권10호
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• pp.1318-1326
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• 2014

The purpose of a tracking control system is to track a moving target and to find the exact information of the target. If the platform of the tracking control system is equipped on a moving vehicle such as a ship, the tracking control system will treat even the additional platform motion. In order to avoid the complexity comprising the tracking control system, a process to treat the platform motion, named stabilizing system, must be separated from the tracking control system. In this paper, a method to comprise an attitude control system for the platform stabilization is proposed using an adaptive fuzzy control which is applicable to the system with structural and parametric uncertainty. The suggested adaptive fuzzy control algorithm is the 2nd/1st-type indirect adaptive fuzzy control algorithm using the advantages of 1st-type and 2nd-type indirect adaptive fuzzy control algorithm. Several experiments using the implemented stabilizing system are executed for verifying the effectiveness of the suggested method.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2001년도 춘계학술대회 학술발표 논문집
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• pp.144-147
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• 2001

This paper presents adaptive fuzzy controller which is uncertainty or unknown variation in different parameters with nonlinear system of helicopter. The proposed adaptive fuzzy controller applied TSK(Takagi-Sugeno-Kang) fuzzy system which is not only low number of fuzzy rule, and a linear input-output equation with a constant term, but also can represent a large class of nonlinear system with good accuracy. The adaptive law was designed by using Lyapunov stability theory. The adaptive fuzzy controller is a model reference adaptive controller which can adjust the parameter $\theta$ so that the plant output tracks the reference model output. First of all, system of helicopter was considered as stopping state, and design of controller was simulated from dynamics equation with stopping state. Results show that it is controlled more successfully with a model reference adaptive controller than with a non-adaptive fuzzy controller when there is a modelling error between system and model or a continuous added noise in such unstable system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1267-1271
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• 2003

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.