• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1129-1132
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• 1993

This paper presents the idea of a neural fuzzy controller with application to the control of an industrial machining process. The structure of such a controller, which links the idea of a fuzzy controller and a neural network, is suggested. Results of comparative simulations indicate that the proposed neural fuzzy controller performs equally well as a fuzzy logic controller; moreover, it is more flexible and allows faster data processing.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.832-839
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• 2009

In this paper, we introduce an design of fuzzy relation-based fuzzy neural networks with multi-output. Fuzzy relation-based fuzzy neural networks comprise the network structure generated by dividing the entire input space. The premise part of the fuzzy rules of the network reflects the relation of the division space for the entire input space and the consequent part of the fuzzy rules expresses three types of polynomial functions such as constant, linear, and modified quadratic. For the multi-output structure the neurons in the output layer were connected with connection weights. The learning of fuzzy neural networks is realized by adjusting connections of the neurons both in the consequent part of the fuzzy rules and in the output layer, and it follows a back-propagation algorithm. In addition, in order to optimize the network, the parameters of the network such as apexes of membership functions, learning rate and momentum coefficient are automatically optimized by using real-coded genetic algorithm. Two examples are included to evaluate the performance of the proposed network.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.5
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• pp.705-711
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• 2013

In this paper, we introduce an design of multi-output fuzzy neural networks based on Interval Type-2 fuzzy set. The proposed Interval Type-2 fuzzy set-based fuzzy neural networks with multi-output (IT2FS-based FNNm) comprise the network structure generated by dividing the input space individually. The premise part of the fuzzy rules of the network reflects the individuality of the division space for the entire input space and the consequent part of the fuzzy rules expresses three types of polynomial functions with interval sets such as constant, linear, and modified quadratic inference for pattern recognition. The learning of fuzzy neural networks is realized by adjusting connections of the neurons in the consequent part of the fuzzy rules, and it follows a back-propagation algorithm. In addition, in order to optimize the network, the parameters of the network such as apexes of membership functions, uncertainty factor, learning rate and momentum coefficient were automatically optimized by using real-coded genetic algorithm. The proposed model is evaluated with the use of numerical experimentation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.301-304
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• 2005

In this paper, we propose a new fuzzy set-based polynomial neuron (FSPN) involving the information granule, and new fuzzy-neural networks - Fuzzy Set based Polynomial Neural Networks (FSPNN). We have developed a design methodology (genetic optimization using Genetic Algorithms) to find the optimal structure for fuzzy-neural networks that expanded from Group Method of Data Handling (GMDH). It is the number of input variables, the order of the polynomial, the number of membership functions, and a collection of the specific subset of input variables that are the parameters of FSPNN fixed by aid of genetic optimization that has search capability to find the optimal solution on the solution space. We have been interested in the architecture of fuzzy rules that mimic the real world, namely sub-model (node) composing the fuzzy-neural networks. We adopt fuzzy set-based fuzzy rules as substitute for fuzzy relation-based fuzzy rules and apply the concept of Information Granulation to the proposed fuzzy set-based rules.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.30A no.4
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• pp.37-43
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• 1993

As an approach to develope the intelligent control scheme, this paper will propose an adaptive neural-fuzzy control scheme. The proposed neural-fuzzy control system, which consists of the Fuzzy-Neural Controller(FNC) and Model Neural Network(MNN), has two important characteristics of adaptation and learning. The error back propagation algorithm has been adopted as a learning technique.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1241-1248
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• 2004

A controller of wheeled mobile robot(WMR) based on Lyapunov theory is designed and a Fuzzy-Neural Network algorithm is applied to this system to adjust controller gain. In conventional controller of WMR that adopts fixed controller gain, controller can not pursuit trajectory perfectly when initial condition of system is changed. Moreover, acquisition of optimal value of controller gain due to variation of initial condition is not easy because it can be get through lots of try and error process. To solve such problem, a Fuzzy-Neural Network algorithm is proposed. The Fuzzy logic adjusts gains to act up to position error and position error rate. And, the Neural Network algorithm optimizes gains according to initial position and initial direction. Computer simulation shows that the proposed Fuzzy-Neural Network controller is effective.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1804-1807
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• 1997

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learnign architecture. It is proposed a learning controller consisting of two neural networks-fuzzy based on independent reasoning and a connecton net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.82-87
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• 1997

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.4
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• pp.62-67
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• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized loaming architecture. It is Proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tucking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.255-258
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• 2003

It is hard to centrol the wheeled mobile robot because of uncertainty of modeling, non-holonomic constraint and so on. To solve the problems, we design the controller of wheeled mobile robot based on fuzzy-neural network algorithm. In this paper, we should research the problem of classical controller for path-tracking algorithm and design of Fuzzy-Neural Network algorithm controller. Classical controller acquired different control value according to change of initial position and direction. In this control value having very difficult and having acquired a lot of trial and error Fuzzy is implemented to adaptive adjust control value by error and change of error and neural network is implemented to adaptive adjust the control gain during the optimization. The computer simulation shows that the proposed fuzzy-neural network controller is effective.