• Title/Summary/Keyword: cell-mediated immune algorithm(CMIA)

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Design of Steering Controller of AGV using Cell Mediate Immune Algorithm (세포성 면역 알고리즘을 이용한 AGV의 조향 제어기 설계에 관한 연구)

  • Lee, Yeong-Jin;Lee, Jin-U;Lee, Gwon-Sun
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.10
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    • pp.827-836
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    • 2001
  • The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.

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A Study on Steering Performance Improvement of the AGV using Cell-Mediated Immune Algorithm (세포성 면역 알고리즘을 이용한 AGV의 조향 성능 향상에 관한 연구)

  • Lee, Y.J.;Sohn, J.H.;Lee, J.W.;Cho, H.C.;Lee, K.S.
    • Proceedings of the KIEE Conference
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    • 2000.07d
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    • pp.2572-2574
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    • 2000
  • In this paper, cell-mediated immune algorithm(CMIA) controller was proposed and applied for the autonomous guided vehicle(AGV) driving. It was based on specific immune response of the biological immune system which is the cell-mediated immunity. To verify the performance of the designed CMIA controller, some experiments were performed for the control of steering and speed of AGV. And then the displacement and speed tracking error of the AGV was mainly investigated. As results, the capability of realization and reliableness were proved by comparing the response characteristics of the classical controller with the proposed CMIA controller.

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A Design of Adaptive Controller based on Immune System (면역시스템에 기반한 적응제어기 설계에 관한 연구)

  • Lee Kwon Soon;Lee Young Jin
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1137-1147
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    • 2004
  • In this paper, we proposed two types of adaptive control mechanism which is named HIA(Humoral Immune Algorithm) PID and CMIA(Cell-Mediated Immune Algorithm) controller based on biological immune system under engineering point of view. The HIA PID which has real time control scheme is focused on the humoral immunity and the latter which has the self-tuning mechanism is focused on the T-cell regulated immune response. To verify the performance of the proposed controller, some experiments for the control of AGV which is used for the port automation to carry container without human are performed. The experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. Moreover, in that results, proposed controllers have better performance than other conventional PID controller and intelligent control method which is the NN(neural network) PID controller.