• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.349-352
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• 2007

본 논문은 계층적 공정 경쟁 유전자 알고리즘(Hierarchical Fair Competition-based Genetic Algorithms : HFCGAs)을 이용한 회전형 역 진자 시스템의 최적 2-자유도 제어기 설계를 제안한다. 비선형이며 불안정한 운동을 하는 회전형 역 진자 시스템은 회전지렛대(rotating arm) 위의 폴(pole)이 적당한 제어력이 없는 상황에서 중력에 의해 어느 한 쪽 방향으로 넘어지려고 할 때, 외부에서 회전지렛대에 힘을 가하여 회전지렛대의 특정위치와 폴의 각도를 유지시키는 시스템으로, 본 논문에서는 두 개의 피드백 제어루프를 갖는 2-자유도 제어기를 구성한다. 각각의 제어기는 PD 제어기로 구성하고, 조기수렴 문제를 내재하고 있는 기존의 유전자 알고리즘의 해결방안중 하나인 HFCGAs를 이용하여 최적의 제어기 파라미터들을 구한다. 마지막으로 실제 공정에 적용하여 설계된 제어기의 성능을 평가한다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.306-307
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• 2007

본 논문은 계층적 공정 경쟁 유전자 알고리즘(Hierarchical Fair Competition-based Genetic Algorithms : HFCGA)을 이용하여 회전형 역 진자 시스템의 최적 Fuzzy 제어기 설계를 제안한다. 탐색 공간이 크거나 복잡한 최적해 탐색문제에 대해 조기 수렴 문제를 내제하고 있는 기존의 유전자 알고리즘의 해결방안으로 병렬 유전자 알고리즘이 개발되었으며, HFCGA는 병렬 유전자 알고리즘의 한 구조이다. 본 논문에서는 회전형 역 진자 시스템에 대해 LQR 제어기와 유사한 형태의 Fuzzy 제어기를 구성하고, HFCGA를 이용하여 최적의 제어기 파라미터들을 구한다. 그리고 시뮬레이션 및 실제 공정에 적용하여 LQR 제어기와 설계된 제어기의 성능을 평가한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.329-336
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• 2009

In this paper, we propose the design of an optimized fuzzy cascade controller for rotary inverted pendulum system by means of Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) which is a kind of parallel genetic algorithms. The rotary inverted pendulum system is the system for controlling the inclination of pendulum axis through the adjustment of rotating arm. The control objective of the system is to control the position of rotating arm and to make the pendulum maintain the unstable equilibrium point of vertical position. To control rotary inverted pendulum system, we designs the fuzzy cascade controller scheme consisted of two fuzzy controllers and optimizes the parameters of the designed controller by means of HFCGA. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy cascade controller leads to superb performance in comparison with the conventional LQR controller as well as HFCGA based PD cascade controller.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.400-405
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• 2023

Currently, inverted pendulums are being studied in many fields, including posture control of missiles, rockets, etc, and bipedal robots. In this study, the vertical posture control of the pendulum was studied by constructing a rotary inverted pendulum using a 256-pulse rotary encoder and a DC motor. In the case of nonlinear systems, complex algorithms and controllers are required, but a control method using the classic and relatively simple PID(Proportional Integral Derivation) algorithm was applied to the rotating inverted pendulum system, and a simple but desired method was studied. The rotating inverted pendulum system used in this study is a nonlinear and unstable system, and a PID controller using Microchip's dsPIC30F4013 embedded processor was designed and implemented in linear modeling. Usually, PID controllers are designed by combining one or two or more types, and have the advantage of having a simple structure compared to excellent control performance and that control gain adjustment is relatively easy compared to other controllers. In this study, the physical structure of the system was analyzed using mathematical methods and control for vertical balance of a rotating inverted pendulum was realized through modeling. In addition, the feasibility of controlling with a PID controller using a rotating inverted pendulum was verified through simulation and experiment.

• Journal of the Korean Society for Marine Environment & Energy
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• v.20 no.2
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• pp.91-99
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• 2017

The parametric study was performed for performance enhancement of wave energy converter(WEC) using a submerged pendulum plate. The wave exciting moment and hydrodynamic moment were obtained by means of eigenfunction expansion method based on the linear potential theory, and then the roll response of a pendulum plate and time averaged extracted power were investigated. The optimal PTO damping coefficient was suggested to give optimal extracted power. The peak value of optimal extracted power occurs at the resonant frequency. The resonant peak and it's width increase, as the height and thickness of a pendulum plate increase. The mooring line installed at the end of the pendulum plate is effective for extracting wave energy because it can not only induce the resonance with the waves of the installation site but also increase the restoring moment in case of PTO-on. The WEC using a rolling pendulum plate suitable for the shallow water acts as breakwater as well as energy extraction device.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.236-242
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• 2008

In this paper, we propose an optimized fuzzy controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for rotary inverted pendulum system. We adopt fuzzy controller to control the rotary inverted pendulum and the fuzzy rules of the fuzzy controller are designed based on the design methodology of Linear Quadratic Regulator (LQR) controller. Simple Genetic Algorithms (SGAs) is well known as optimization algorithms supporting search of a global character. There is a long list of successful usages of GAs reported in different application domains. It should be stressed, however, that GAs could still get trapped in a sub-optimal regions of the search space due to premature convergence. Accordingly the parallel genetic algorithm was developed to eliminate an effect of premature convergence. In particular, as one of diverse types of the PGA, HFCGA has emerged as an effective optimization mechanism for dealing with very large search space. We use HFCGA to optimize the parameter of the fuzzy controller. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy controller leads to superb performance in comparison with the conventional LQR controller as well as SGAs based fuzzy controller.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.104-106
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• 2007

In this paper, we propose an approach to design of optimized Cascade controller for Rotary Inverted Pendulum system using Hierarchical Fair Competition-based Genetic Algorithm(HFCGA). GAs may get trapped in a sub-optimal region of the search space thus becoming unable to find better quality solutions, especially for very large search space. The Parallel Genetic Algorithms(PGA) are developed with the aid of global search and retard premature convergence. HFCGA is a kind of multi-populations of PGA. In this paper, we design optimized Cascade controller by HFCGA for Rotary Inverted Pendulum system that is nonlinear and unstable. Cascade controller comprise two feedback loop, parameters of controller optimize using HFCGA. Then designed controller evaluate by apply to the real plant.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.407-415
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• 2011

In this study, we propose the design of optimized fuzzy controller for the rotary inverted pendulum system by using differential evolution algorithm. The structure of the differential evolution algorithm has a simple structure and its convergence to optimal values is superb in comparison to other optimization algorithms. Also the differential evolution algorithm is easier to use because it have simpler mathematical operators and have much less computational time when compared with other optimization algorithms. The rotary inverted pendulum system is nonlinear and has a unstable motion. The objective is to control the position of the rotating arm and to make the pendulum to maintain the unstable equilibrium point at vertical position. The output performance of the proposed fuzzy controller is considered from the viewpoint of performance criteria such as overshoot, steady-state error, and settling time through simulation and practical experiment. From the result of both simulation and practical experiment, we evaluate and analyze the performance of the proposed optimal fuzzy controller from the comparison between PGAs and differential evolution algorithms. Also we show the superiority of the output performance as well as the characteristic of differential evolution algorithm.