• Ocean Systems Engineering
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• v.3 no.3
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• pp.237-255
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• 2013

In many applications, Remotely Operated Vehicles (ROVs) are required to be capable of course keeping, depth keeping, and height keeping. The ROV must be able to resist time-variant external forces and moments or frequent manipulate changes in some specified circumstances, which require the control system meets high precision, fast response, and good robustness. This study introduces a Fuzzy-Incomplete Derivative Ahead-PID (FIDA-PID) control system for a 500-meter ROV with four degrees of freedom (DOFs) to achieve course, depth, and height keeping. In the FIDA-PID control system, a Fuzzy Gain Scheduling Controller (FGSC) is designed on the basis of the incomplete derivative ahead PID control system to make the controller suitable for various situations. The parameters in the fuzzy scheme are optimized via many cycles of trial-and-error in a 10-meter-deep water tank. Significant improvements have been observed through simulation and experimental results within 4-DOFs.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.1-6
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• 2015

In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.3
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• pp.10-16
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• 2005

This paper suggested the sulfur lamp power supply using Fuzzy Gain Scheduling(FGS), which was designed and confirmed the performance through manufacturing. it was based on Series Resonant Half Bridge Inverter(SRHBI), so that was applied Pulse Frequency Modulation(PFM), Zero Voltage Switching(ZVS), soft switching and soft start for input power variation and output power compensation. In order to get the lengthened life time of magnetron and stabilized output or power, power ratter and efficiency were improved by fuzzy gain algorism. It also made it possible to get not the existing foxed output power but continuous variable output power$(900\~1250[W])$. The manufactured power supply showed good results in input power $220[V]{\pm}15[\%]$ with stabilized output of power, luminous efficiency 97[1m/W] and power factor $96[\%]$.