• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.176.2-176
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• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, it needs robust performance which can get over nonlinear characteristics. Second, it needs accurate performance which have small overshoot phenomenon and steady state error. Third, it needs continuous control input. Finally, it needs interpolation method which can solve the speed dependency problem of controller parameters. To solve these problems, we propose adepth control method using Fuzzy Sliding Mode Controller and Neural Network Interpolator. Simulation results show the proposed method has robust and accurate control performance by the continuous control input and has no speed dependency problem.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.214-230
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• 2014

This paper presents a high performance sensor less control four motorized wheels for electric vehicle. Firstly, we applied a sensor less master-slave DTC based control to both the two in wheel motors by using sliding mode observer for its quick response and its high reliability in electric vehicle application. Secondly, to overcome the possible loss of adherence of one of the four wheels which is likely to destabilize the vehicle a solution is proposed in this paper. Thirdly, a Fuzzy logic anti-skid control structure well adapted to the non-linear system is used to overcome the main problem of power train system in the wheel road adhesion characteristic. Various Simulation results have been include in this paper to show that the proposed control strategy can prevent vehicle sliding and show good vehicle stability on a curved path.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.536-538
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• 1997

In this paper, a sliding mode control-based fuzzy controller is suggested. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. An inverted pendulum is effectively controlled by the proposed method in spite of existing model uncertanties and parameter disturbances.

• Proceedings of the Korean Society of Computer Information Conference
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• 2010.07a
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• pp.59-62
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• 2010

로봇모터제어에 사용되는 서보전동기의 센서리스 운전에 대한 초기의 연구에서는 전동기의 전압과 전류를 측정하여 전동기 모델로부터 속도를 연산하는 방식을 취해왔으나, 근래에는 현대제어 이론 중 관측기 이론을 적용하여 속도 추정 및 센서리스 운전을 위한 다양한 연구가 시도되고 있다. 본 논문에서 설계한 슬라이딩형 퍼지 관측기의 속도추정 성능을 검증하기 위해 먼저 슬라이딩 관측기를 이용하여 전기자 전류의 도함수를 추정하고 속도관측기인 Luenberger 관측기의 이득을 퍼지 제어 기법을 이용하여 관측기 이득을 최적 값으로 선정하고 이것을 이용하여 직류 서보 전동기의 속도제어에 적용하였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.211-214
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• 2001

In this paper, we interpret a score as a time series and deal with the fuzzy logic-based modeling of it. The musical notes in a score represent a lot of information about the length of a sound and pitches, etc. In this paper, using melodies, tones and pitches in a score, we transform data on a score into a time series. Once more, we form the new time series by sliding a window through the time series. For analyzing the time series data, we make use of the Box-Jenkinss time series analysis. On the basis of the identified characteristics of time series, we construct the fuzz model.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.219-223
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• 1995

This paper deals with the robust control system for parameter variations, fast responses and load torque variations. Frist, fuzzy-sliding adaptive control be used to. Fuzzy-sliding adaptive control is good at fast response. Second, there are many requests for selecting freely the moment of inertia, even though moment of inertia is determined with the materials, structure, shape, and size of the motors. Therefore we developed an inertia-lowering control system that uses torque observer to reduce the moment of inertia. Finally, using torque observer, torque control is done so as to compensate load torque. Consequently, the proposed system verified the superiority through the simulations using MATLAB.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1430-1434
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• 2003

In this paper, for the fuzzy-reaching law method which has the characteristic of elimination of chattering at sliding mode as well as the characteristic of fast response at the design of variable structure controller with reaching law, optimal solutions for the determination of parameters of fuzzy membership functions by using genetic algorithm are proposed. Generally, the design of fuzzy controller has difficulties in determining the parameters of fuzzy membership functions by using a tedious trial-and-error process. To overcome these difficulties, this paper develops genetic algorithm of an optimal searching method based on genetic operation, and to verify the validity of this proposed method it is simulated through 2 link robot manipulator.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1024-1026
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• 1996

Sources of nonlinearity In a fuzzy logic controller Include the fuzzification, the fuzzy reasoning and the defuzzification. In this paper, a closed form expression for the defuzzified output is derived in case of a fuzzy logic controller with two Inputs, triangular memberships, MacVicar-Whelan type linguistic rules, and direct fuzzy reasoning. As a result, it is shown that fuzzy logic controller is a nonlinear controller. Also its nonlinearity Is analyzed with respect to the conventional PID control and the sliding mode control.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2474-2476
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• 2005

본 논문에서는 슬라이딩 평면에 도달 조건을 이용하여 균일한 계단 반응을 얻을 수 있는 퍼지 슬라이딩 모드 제어기 설계방법을 제시한다. 슬라이딩 평면에 도달할 조건을 퍼지 논리로 설계하여 과도한 입력이 플랜트에 가해지지 않도록 비선형 제어기를 설계한다. 슬라이딩 평면 도달 속도의 가변 조건을 퍼지화 하여 퍼지슬라이딩 모드 제어기를 설계한다. 각각의 제어기에 대하여 고주파 공진이 있는 2차 강성 모델에 대하여 모의 실험을 실시하여 그 특성을 비교하였다.