• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.1
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• pp.60-67
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• 1998

In this paper, a gain scheduling method of PID controller is proposed using fuzzy logic for balancing control of an inverted pendulum. First, gains of PID controller are calculated using pole-placement technique for the linearized model of an inverted pendulum and these gains are modified by fuzzy logic throughout control operations. A PD controller is used by switching near the set-point to improve the performance. It is illustrated by simulations that the proposed hybrid fuzzy control method yidels smaller rising time and overshoot compared to the fixed-gain PID controller or fuzzy logic-based only PID controller.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.2
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• pp.383-388
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• 2007

This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control law inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control law.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.8
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• pp.467-472
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• 2000

A three-level decoupled sliding mode controller is developed to achieve asymptotic stability for a class of sixth-order nonlinear systems. The sixth-order system is decoupled into three subsystems according to the structure of the whole system. Each subsystem has a separate control target in the form of a sliding surface. The information of the third sliding surface is transferred to the second one through an intermediate variable and the information of the second sliding surface is transferred to the first one through another intermediate variable. Consequently, the controller designed on the basis of the first sliding surface can make three subsystems move toward their sliding surfaces, respectively. The three-level decoupled sliding mode controller is applied to the double-inverted pendulum problem where the zero stable states are required.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.243-247
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• 1996

A general procedure for motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complicated and optimized movements are easily digitized to analyze and reproduce. The system consists of a motion capture module, a motion visualization module, a motion plan module, a motion mimic module, and a GUI module. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. This procedure is being implemented on a virtual cyber cube. and an inverted pendulum. With modifications, this procedure can applied for complicated motion controls.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2001.11a
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• pp.233-238
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• 2001

The mechanism design of the interactive emotional robot has been carried out. The two-wheeled inverted pendulum type mechanism was adopted to improve the mobility and make the innate clumsy monoaxial bicycle motion. Even though the system is unstable in itself, it is expected for the robot to move freely in a plane, keeping the upright position only with two wheels. Two motors attached on head can make 4 motion sets, and two motors on the wheels can make 8. Therefore, 32 independent motion sets can be achieved from the robot to communicate the emotions with humans. The motion's equation of the robot was derived based on nonholonomic dynamics, and the necessary power to the wheel's rotational axis was found by simulation.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.05a
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• pp.327-332
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• 2002

We made a human-sensitive motion interpretation to the interactive emotional robot, "Rai" of which the mechanism design was carried out and completed. Kinematic system of this emotional robot mainly consists of a body and a head. The body contains the total control units , the communicat ion modules and also two wheels and motors for main driving which make kinds of motions 1 ike the inverted pendulum. This robot system is designed under the concept on the human-friendly mot ion and react ion wi th humans around living room and office environments. Therefore, various scenarios are constructed in order to enable the emotional expressions at those places. Especially, we interpreted technically-possible motions while accommodating to the scenarios constructed. And we performed some experiments to make sere of the possibility of the motion interpretation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.9A
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• pp.2211-2220
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• 1998

This paper presetns an adaptive critic self-learning control system with cerebellar model articulation controller (CMAC)-based decoder integrated with the associative search element (ASE) and adatpive critic element(ACE)- based scheme. The tast of the system is to balance a pole that is hinged to a movable cart by applying forces to the cart's base. The problem is that error feedback information is limited. This problem can be sloved when some adaptive control devices are involved. The ASE incorporates prediction information for reinforrcement from a critic to produce evaluative information for the plant. The CMAC-based decoder interprets one state to a set of patways into the ASE/ACE. These signals correspond to te current state and its possible preceding action states. The CMAC's information interpolation improves the learning speed. And design inverted pendulum hardware system to show control capability with neural network.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2135-2137
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• 2002

In this paper to overcome drawback of FLC an adaptive fuzzy sliding mode controller is proposed. The fuzzy basis function to describe the fuzzy system is introduced. The system parameter in sliding mode are estimated by the indirect adaptive fuzzy control. Adaptive laws for fuzzy parameters and fuzzy rule structure are established so that the whole system is suable in the sense of Lyapunov stability. The computer simulation results for inverted pendulum system show the performance of the proposed fuzzy sliding mode controller.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2196-2198
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• 2002

Fuzzy controller design consists of intuition, and any other information about how to control system, into a set of rules. These rules can then be applied to the system. It is very important to decide parameters of IF-THEN rules. Because Fuzzy controller can make more adequate force to the plant by means of parameter optimization, which is accomplished by learning procedure. In this paper, we apply adaptive fuzzy controller designed to the Rotary Inverted Pendulum.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.681-683
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• 1998

Fuzzy Inference System is to trans late and be concrete with human expert in to mathematical equation. It is easy to be applied for Nonlinear System and the know ledge can be applied at that. With using the rule according to the Knowledge, when it is realized simulations must be required repeatedly and small vibration is generated in steady state, too. In this paper, we applied the system to the methodology of optimization with self-learn ing by us ing ANFIS(Adaptive Network-based Fuzzy Inference System) which makes use of back-propagation and least square method at a first order Sugeno Fuzzy System. In order to show the effect of Algorithm, we demonstrated it by us ing Rotary Inverted Pendulum.