• 동력기계공학회지
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• 제9권4호
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• pp.194-201
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• 2005

In this paper, we propose an adaptive mechanism based on humoral immune algorithm and neural network identifier technique. It is also applied for an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To slove this problem, we use the neural network identifier technique for modeling the plant humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. Finally, the experimental results for control of steering and speed of AGV system illustrate the validity of the proposed control scheme. Also, these results for the proposed method show that it has better performance than other conventional controller design method such as PID controller.

• 한국지능시스템학회논문지
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• 제8권6호
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• pp.12-20
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• 1998

제어 환경의 변화에 강건하게 대처할 수 있는 제어 시스템을 개발하기 위해서, 본 논문에서는 자연계의 면역 시스템과 다층 신경망을 결합한 제어 시스템을 제안한다. 제안한 제어 시스템은 면역 알고리즘을 이용하여 다층 신경망의 가중치를 조절한다. 면역 알고리즘은 초기 방어 단계인 선천성 면역 알고리즘과 적응 단계인 적응 면역 알고리즘으로 구성되어 있다. 과거에 학습한 경험이 있는 환경과 유사한 환경에 대해서 선천성 면역 알고리즘이 동작하고, 학습한 경험이 없는 새로운 제어 환경의 변하에 대해서는 적응 면역 알고리즘이 동작한다. 면역 알고리즘을 이용한 제어 시스템을 로봇 매니퓰레이터의 궤적 추종 제어에 적용하였으며, 컴퓨터 모의 실험을 통해 제어 시스템의 성능을 평가한다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 춘계학술대회논문집
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• pp.56-63
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• 2000

Abstract - In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied for the autonomous guided vehicle(AGV) driving. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough intially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. The computer simulation for the control of steering and speed of AGV is performed. The results show that the proposed controller has better performances than other conventional controllers.

• 한국정밀공학회지
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• 제21권10호
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• pp.65-77
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• 2004

In this paper, we propose an adaptive mechanism based on immune algorithm and neural network identifier technique. It is also applied fur an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To solve this problem, we use the neural network identifier (NNI) technique fur modeling the plant and humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using an immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. Finally, the simulation and experimental result fur the control of steering and speed of AGV system illustrate the validity of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권4호
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• pp.201-212
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• 2000

In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied for the autonomous guided vehicle(AGV) driving. When the immune algorithm is applied to the PID controller, there exists the cast that the plant is damaged due to the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough intially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. The computer simulation for the control of steering and speed of AGV is performed. The results show that the proposed controller has better performances than other conventional controllers.

• 한국항만학회지
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• 제14권2호
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• pp.187-197
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• 2000

In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied to the driving control of the autonomous guided vehicle(AGV). When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged by the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined through this off-line manner, these parameters are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted more accurately through the on-line fine tuning. The experiment for the control of steering and speed of AGV is performed. The results show that the proposed controller provides better performances than other conventional controllers.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
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• pp.273-279
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• 1998

An immune system has powerful abilities such as memory, recognition and learning to respond to invading antigens, and is applied to many engineering algorithm recently. In this paper, the combined optimization algorithm is proposed for multi-optimization problem by introducing the capability of the immune system that controls the proliferation of clones to the genetic algorithm. The optimizing ability of the proposed optimization algorithm is identified by using two multi-peak functions which have many local optimums and optimization of the unbalance response function for rotor model.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.453-458
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• 2003

The anomaly-detection algorithm based on negative selection of T cells is representative model among self-recognition methods and it has been applied to computer immune systems in recent years. In immune systems, T cells are produced through both positive and negative selection. Positive selection is the process used to determine a MHC receptor that recognizes self-molecules. Negative selection is the process used to determine an antigen receptor that recognizes antigen, or the nonself cell. In this paper, we propose a novel self-recognition algorithm based on the positive selection of T cells. We indicate the effectiveness of the proposed algorithm by change-detection simulation of some infected data obtained from cell changes and string changes in the self-file. We also compare the self-recognition algorithm based on positive selection with the anomaly-detection algorithm.

• 동력기계공학회지
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• 제2권1호
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• pp.52-58
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• 1998

An immune system has powerful abilities such as memory, recognition and learning to respond to invading antigens, and is applied to many engineering algorithm recently. In this paper, the combined optimization algorithm is proposed for multi-objective problem by introducing the capability of the immune system that controls the proliferation of clones to the genetic algorithm. The optimizing ability of the proposed algorithm is identified by using multi-peak function which have many local optimums and identification of the flexural rigidity for wire rope model.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권3호
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• pp.134-141
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• 2003

PID controllers with constant gains have been widely used in various control systems due to its powerful performance and easy implementation. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a nonlinear variable PR controller with immune feedback mechanism. An immune feedback mechanism is based on the functioning of biological T-cells, they include both an active term, which controls response speed. and an inhibitive term, which controls stabilization effect. Therefore, the proposed nonlinear PID controller is based on immune responses of biological. immune feedback mechanism which is the cell mediated immunity and In order to choose the optimal nonlinear PID controller games, we also propose the tuning algorithm of nonlinear function parameter in immune feedback mechanism. To verify performance of the proposed algorithm, the speed control of nonlinear DC motor are performed. Front the simulation results, we have found that the proposed algorithm is more superior to the conventional constant fain PID controller.