• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.907-912
• /
• 1990

An approach to robot force control, which allows force manipulations to be realized without overshot and overdamping while in the presence of unknown environment, is given in this paper. The main idea is to use dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resolved acceleration control method, dynamic compensation and PID control based on known robot dynamics, kinematics and estimated environment compliance is introduced. To avoid overshoot the whole control system is constructed overdamped. In the second stage, the unknown environment stiffness is estimated by using fuzzy reasoning, where the fuzzy estimation rules are obtained priori as the expression of the relationship between environment stiffness and system response. Based on simulation result, comparisons between cases with or without fuzzy identifications are given, which illustrate the improvement achieved.

• Smart Structures and Systems
• /
• v.19 no.5
• /
• pp.577-585
• /
• 2017

In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is designed to reduce dynamic responses of seismically excited structures. In the conventional sliding mode control (SMC), direct implementation of switching-type control law leads to chattering phenomenon which may excite unmodeled high frequency dynamics and may cause vibration in control force. Attenuation of chattering and its harmful effects are done by using fuzzy controller to approximate discontinuous part of the sliding mode control law. In order to prevent time-consuming obtaining of membership functions and reduce complexity of the fuzzy rule bases, adaptive law based on Lyapunov function is designed. To demonstrate the performance of AFSMC method and to compare with that of SMC and fuzzy control, a linear three-story scaled building is investigated for numerical simulation based on the proposed method. The results indicate satisfactory performance of the proposed method superior to those of SMC and fuzzy control.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.57 no.9
• /
• pp.1642-1651
• /
• 2008

The dynamic behavior of power systems is affected by the interactions between linear and nonlinear components. To analyze those complicated power systems, the linear approaches have been widely used so far. Especially, a synchronous generator has been designed by using linear models and traditional techniques. However, due to its wide operating range, complex dynamics, transient performances, and its nonlinearities, it cannot be accurately modeled as linear methods based on small-signal analysis. This paper describes an application of the Takaki-Sugeno (T-S) fuzzy method to model the synchronous generator in a single-machine infinite bus (SMIB) system. The T-S fuzzy model can provide a highly nonlinear functional relation with a comparatively small number of fuzzy rules. The simulation results show that the proposed T-S fuzzy modeling captures all dynamic characteristics for the synchronous generator, which are exactly same as those by the conventional modeling method.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.4 no.2
• /
• pp.199-204
• /
• 2004

In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system. An example is provided for showing the feasibility of the proposed discretization method.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.13 no.4
• /
• pp.277-283
• /
• 2013

In this study, we propose a novel method for modeling dynamic hysteresis. Hysteresis is a widespread phenomenon that is observed in many physical systems. Many different models have been developed for representing a hysteretic system. Among them, the Duhem model is a classical nonlinear dynamic hysteresis model satisfying the properties of hysteresis. The purpose of this work is to develop a novel method that expresses the local dynamics of the Duhem model by a linear system model. Our approach utilizes a certain type of fuzzy system that is based on Takagi-Sugeno (T-S) fuzzy models. The proposed T-S fuzzy Duhem model is achieved by fuzzy blending of the linear system model. A simulated example applied to shape memory alloy actuators, which have typical hysteretic properties, illustrates the applicability of our proposed scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.265-270
• /
• 1998

In this paper we introduce a modeling of wheeled mobile robot with a differential drive derived by R.M. DeSantis and using the dynamics model-ing with some disturbance term we control the wheeled mobile robot using fuzzy sliding mode control(FSMC) method. In a fuzzy control approach it is very difficult to prove the stability of the fuzzy controller. Therefore, to overcome that difficult proof of the stability in a fuzzy control method, we first propose a sliding mode controller and prove the stability of the proposed controller. Next, transforming the proposed sliding mode controller into a fuzzy sliding mode controller without changing the basic structure of the sliding mode con-troller, we easily obtain a fuzzy sliding mode con-troller(FSMC) whose stability is guaranteed with-out difficult stability proof procedure of the proposed FSMC.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.22 no.5
• /
• pp.86-94
• /
• 2008

In this paper proposed the solar tracking system to use a fuzzy based on PC in of order to increase an output of the PV(Photovoltaic) array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studies. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up, nonlinear altitude and azimuth. In this paper designed a fuzzy controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• International Journal of Precision Engineering and Manufacturing
• /
• v.2 no.3
• /
• pp.34-40
• /
• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.863-865
• /
• 1995

The studies about the swing control of the travelling pendulum have been developed in many ways. Most of them deal with the linearized pendulum model. This paper shows that the pendulum can be modelled without linearization by using MATRIXx, the dynamics simulation software. The fuzzy controller for reducing swing of the travelling pendulum is implemented with fuzzy tools supplied by MATRIXx.

• Proceedings of the IEEK Conference
• /
• summer
• /
• pp.348-353
• /
• 2004

This paper proposes an alternative observation scheme, T-S fuzzy model based indirect adaptive fuzzy observer. Nonlinear systems arc represented by fuzzy models since fuzzy logic systems arc universal approximators. In order to estimate the unmeasurable states of a given nonlinear system, T-S fuzzy modeling method is applied to get the dynamics of an observation system. T-S fuzzy system uses the linear combination of the input state variables and the modeling applications of them to various kinds of nonlinear systems can be found. The adaptive fuzzy scheme estimates the parameters comprising the fuzzy model representing the observation system. The proposed indirect adaptive fuzzy observer based on T-S fuzzy model can cope with not only unknown states but also unknown parameters. In the process of deriving adaptive law, the Lyapunov theory and Lipchitz condition are used. To show the performance of the proposed observation method, it is applied to an inverted pendulum on a cart.