• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.181-183
• /
• 1996

Generally, While position type fuzzy controller has good performance in transient period, it has uniform steady state error of response. While velocity type fuzzy controller is capable of reducing steady state error of response, it is hard to develop the performance in transient period. In order to have both good performance in transient period and ability to reduce the steady state error of response, weighting fuzzy controller, which is composed of these two fuzzy controllers, is proposed. For the decision of weight to each fuzzy controller, Weighting fuzzy set is established according to the system state variables and applied to each fuzzy controller. The proposed weighted fuzzy controller has the merits of both position type fuzzy controller and velocity type fuzzy controller simultaneously.

• 한국지능시스템학회논문지
• /
• 제3권3호
• /
• pp.56-67
• /
• 1993

A Class of fuzzy controller based on the variable structure system(VSS) technique in which different structures of controllers are fuzzily switched according to the switching rules in proppsed. The structure of proposed controllers was motivated by the characteristics of position type fuzzy controller and velocity type fuzzy controller ; the former generally gives good performance in transient perod and the latter are capable of reducing steady state error of response. To show the usefulness of the proposed controller, it is applied to several systems that is difficult to stabilize or difficult to get satisfactory responsed by conventional fuzzy controllers.

• Journal of Advanced Marine Engineering and Technology
• /
• 제30권6호
• /
• pp.760-769
• /
• 2006

This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.

• 한국항행학회논문지
• /
• 제9권2호
• /
• pp.87-92
• /
• 2005

본 연구에서는 산업용 무인 헬리콥터의 자율비행을 위한 일환으로 퍼지 제어기를 이용하여 고도제어를 하였다. 본 논문에서는 가솔린 엔진을 사용하는 전장 3m급의 무인 헬리콥터를 설계하고 이의 재원을 이용하여 Takagi-Sugeno-Kang 형의 퍼지 제어기법으로 고도 제어기를 구성하였다. 목표 고도값과 고도의 오차, 그리고 속도를 이용하여 입력 선형 맴버쉽 함수를 생성하였다. 이렇게 구성된 멤버쉽 함수를 이용 제어입력을 생성하였고, 생성된 제어입력을 이용하여 메인 로터의 피지를 제어하고 그 결과를 이용하여 속도와 고도를 구하였다. 시뮬레이션을 통하여 설계한 퍼지제어기의 고도제어 성능을 평가하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제3권2호
• /
• pp.166-172
• /
• 2003

The dynamics of the DDWMR depends on the velocity difference of the two driving wheels. And which is known as a type of non-holonomic equation. By this reason, the treatment of DDWMR had become difficult and conservative. In this paper, the differential-driving wheeled mobile robot is considered. The Takaki-Surgeno fuzzy model and a control method for DDWMR is presented. The suggested controller has three control elements. The first element is fuzzy state feedback designed for eliminating the dependence of time-varying parameter. The second element is weighting controller which is designed for good frequency response. The third controller is PI-controller which is designed for good command following and robustness with un-modeled dynamics. In order for achieving the performance objective, the design of controller is based on the loop-shaping algorithm.

• 산업기술연구
• /
• 제20권B호
• /
• pp.155-162
• /
• 2000

Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance, FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and to increase efficiency. a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy PI and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and the resultant rule base is Macvicar-Whelan type. And the membership function is a Gaussian function. The frequency response information is used in tuning of the membership functions. Also a tuning strategy for the scaling factors is proposed based on the relationship between PID gain and the scaling factors. Simulation results show better performance and the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
• /
• pp.650-652
• /
• 2000

Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance. FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and increase efficiency, a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy Pi and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and them. The resultant rule base is Macvicar-Whelan type. The frequency response information is used in tuning of membership functions. Also a tuning strategy for the scaling factors is Proposed based on the relationship between PID gain and them. Simulation results show better performance and the effectiveness of the proposed method.

• 한국항해학회지
• /
• 제8권1호
• /
• pp.15-42
• /
• 1984

Many studies have been done in the field of fuzzy logic theory, but it's application to the ship's steering system is few until this date. This paper is to survey the effect of application of fuzzy logic control by new compositional rule of Inference to the ship's steering system. The controller is made up of a set of Linguistic Control Rules which are conditional linguistic statements connecting the inputs and output, and take the inputs derived from deviation angle and it's angular velocity. The Linguistic Control Rules are implemented on the digital computer to verify the performance of the fuzzy logic controller and simulations have been done in six cases of initial condition and disturbance type. Consequently, it was proved that the ship's steering system by introducing the F.L.C. is performed efficiently and less energy loss system compared with the conventional autopilot.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제16권3호
• /
• pp.216-223
• /
• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• 한국항해항만학회지
• /
• 제47권2호
• /
• pp.75-84
• /
• 2023

Ships need to ensure safety during their navigation, which makes route determination highly important. It must be accompanied by a route following controller that can accurately follow the route. This study proposes a method for automatically generating the ship route based on deep reinforcement learning algorithm and following it using a route following controller. To generate a ship route, under keel clearance was applied to secure the ship's safety and navigation chart information was used to apply ship navigation related regulations. For the experiment, a target ship with a draft of 8.23 m was designated. The target route in this study was to depart from Busan port and arrive at the pilot boarding place of the Ulsan port. As a route following controller, a velocity type fuzzy P ID controller that could compensate for the limitation of a linear controller was applied. As a result of using the deep Q network, a route with a total distance of 62.22 km and 81 waypoints was generated. To simplify the route, the Douglas-Peucker algorithm was introduced to reduce the total distance to 55.67 m and the number of way points to 3. After that, an experiment was conducted to follow the path generated by the target ship. Experiment results revealed that the velocity type fuzzy P ID controller had less overshoot and fast settling time. In addition, it had the advantage of reducing the energy loss of the ship because the change in rudder angle was smooth. This study can be used as a basic study of route automatic generation. It suggests a method of combining ship route generation with the route following control.