• Journal of the Korean Institute of Intelligent Systems
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• v.2 no.1
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• pp.17-32
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• 1992

The multi-layer neural network that has broadly been utilized in designing the controller of robot manipulator possesses the desirable characteristics of learning capacity, by which the uncertain variation of the dynamic parameters of robot can be handled adaptively, and parallel distributed processing that makes it possible to control on real-time. However the error back propagation algorithm that has been utilized popularly in the learning of the multi-layer neural network has the problem of its slow convergence speed. In this paper, an approach to improve the convergence speed is proposed using the fuzzy logic that can effectively handle the uncertain and fuzzy informations by linguistic level. The effectiveness of the proposed algorithm is demonstrated by computer simulation of PUMA 560 robot manupulator.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.30A no.4
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• pp.37-43
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• 1993

As an approach to develope the intelligent control scheme, this paper will propose an adaptive neural-fuzzy control scheme. The proposed neural-fuzzy control system, which consists of the Fuzzy-Neural Controller(FNC) and Model Neural Network(MNN), has two important characteristics of adaptation and learning. The error back propagation algorithm has been adopted as a learning technique.

• The Transactions of the Korea Information Processing Society
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• v.4 no.3
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• pp.747-753
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• 1997

Function approximation from a set of input-output parirs has numerous applications in scientiffc and engineer-ing areas.Multiayer feedforward neural networks have been proposed as a good approximator of noninear function.The back propagation (BP) algorithm allows muktiayer feedforward neural networks oro learn input-output mappongs from training samples.However, the mapping acquired through the BP algorithm nay be cor-rupt when errorneous trauning data are employed.In this paper we propose a robust BP learning algorithm that is resistant to the errormeous data and is capable of rejecting gross errors during the approximation process.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.8
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• pp.211-218
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• 1994

In this paper we develope a hybrid learning rule to improve the robustness of multi-layer Perceptions. In most neural networks the activation of a neuron is deternined by a nonlinear transformation of the weighted sum of inputs to the neurons. Investigating the behaviour of activations of hidden layer neurons a new learning algorithm is developed for improved robustness for multi-layer Perceptrons. Unlike other methods which reduce the network complexity by putting restrictions on synaptic weights our method based on error-backpropagation increases the complexity of the underlying proplem by imposing it saturation requirement on hidden layer neurons. We also found that the additional gradient-descent term for the requirement corresponds to the Hebbian rule and our algorithm incorporates the Hebbian learning rule into the error back-propagation rule. Computer simulation demonstrates fast learning convergence as well as improved robustness for classification and hetero-association of patterns.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.6
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• pp.594-601
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• 1997

A new algorithm is proposed for training the multilayer perceptrion(MLP) in pattern classification problems to accelerate the learning speed. It is shown that the sigmoid activation function of the output node can have deterimental effect on the performance of learning. To overcome this detrimental effect and to use the information fully in supervised learning, an objective function for binary modes is proposed. This objective function is composed with two new output activation functions which are selectively used depending on desired values of training patterns. The effect of the objective function is analyzed and a training algorithm is proposed based on this. Its performance is tested in several examples. Simulation results show that the performance of the proposed method is better than that of the conventional error back propagation (EBP) method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.267-270
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• 1997

In this paper, we proposed an optimazation method using Genetic Algorithm for nonlinear system modeling. Fuzzy Neural Network(FNNs) was used as basic model of nonlinear system. FNNs was fused of Fuzzy Inference which has linguistic property and Neural Network which has learning ability and high tolerence level. This paper, We used FNNs which was proposed by Yamakawa. The FNNs was composed Simple Inference and Error Back Propagation Algorithm. To obtain optimal model, parameter of membership function, learning rate and momentum coefficient of FNNs are tuned using genetic algorithm. And we used simplex algorithm additionaly to overcome limit of genetic algorithm. For the purpose of evaluation of proposed method, we applied proposed method to traffic choice process and waste water treatment process, and then obtained more precise model than other previous optimization methods and objective model.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.654-656
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• 1998

This paper presents an optimal identification method of nonlinear and complex system that is based on fuzzy-neural network(FNN). The FNN used simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rule. And we use a HCM Algorithm to find initial parameters of membership function. And then to obtain optimal parameters, we use the genetic algorithm. Genetic algorithm is a random search algorithm which can find the global optimum without converging to local optimum. The parameters such as membership functions, learning rates and momentum coefficients are easily adjusted using the genetic algorithms. Also, the performance index with weighted value is introduced to achieve a meaningful balance between approximation and generalization abilities of the model. To evaluate the performance of the FNN, we use the time series data for 9as furnace and the sewage treatment process.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.95-98
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• 2003

In this paper, an adaptive fuzzy neural control of unknown nonlinear systems based on the rapid learning algorithm is proposed for optimal parameterization. We combine the advantages of fuzzy control and neural network techniques to develop an adaptive fuzzy control system for updating nonlinear parameters of controller. The Fuzzy Neural Network(FNN), which is constructed by an equivalent four-layer connectionist network, is able to learn to control a process by updating the membership functions. The free parameters of the AFN controller are adjusted on-line according to the control law and adaptive law for the purpose of controlling the plant track a given trajectory and it's initial values are off-line preprocessing, In order to improve the convergence of the learning process, we propose a rapid learning algorithm which combines the error back-propagation algorithm with Aitken's $\delta$$\^$2/ algorithm. The heart of this approach ls to reduce the computational burden during the FNN learning process and to improve convergence speed. The simulation results for nonlinear plant demonstrate the control effectiveness of the proposed system for optimal parameterization.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.5
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• pp.490-495
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• 1999

In this paper. a learning method VoD-EBP for neural networks is proposed, which learn patterns by error back propagation. Based on Voronoi diagram, the method initializes the weights of the neural networks systematically, wh~ch results in faster learning speed and alleviated local optimum problem. The method also shows better the reliability of the design of neural network because proper number of hidden nodes are determined from the analysis of Voronoi diagram. For testing the performance, this paper shows the results of solving the XOR problem and the parity problem. The results were showed faster learning speed than ordinary error back propagation algorithm. In solving the problem, local optimum problems have not been observed.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.578-580
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• 1998

The paper presents an approach to the structure identification based on the CART (Classification And Regression Tree) algorithm and to the parameter identification by hybrid learning method in neuro-fuzzy system. By using the CART algorithm, the proposed method can roughly estimate the numbers of membership function and fuzzy rule using the centers of decision regions. Then the parameter identification is carried out by the hybrid learning scheme using BP (Back-propagation) and RLSE (Recursive Least Square Estimation) from the numerical data. Finally, we will show it's usefulness for fuzzy modeling to truck backer upper control.