• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2372-2377
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• 2003

Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because of the interaction between loops and gain of the PID controller has to be manually tuned by trial and error. This paper suggests control approaches by immune fuzzy for the nonlinear control system inverted pendulum, through computer simulation. This paper defines relationship state variables $x,{\dot{x}},{\theta},\dot{\theta}$ using immune fuzzy and applied its results to stability.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.146-156
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• 2003

Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because of the interaction between loops and gain of the PID controller has to be manually tuned by trial and error. This paper suggests control approaches by immune fuzzy for the nonlinear control system inverted pendulum, through computer simulation. This paper defines relationship state variables $x,\dot{x},{\theta},\dot{\theta}$ using immune fuzzy and applied its results to stability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.51-55
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• 1995

An adaptive unified predictive control (UPC) algorithm is applied to a batch polymerization reactor for poly(methyl methancrylate) (PMMA) and the effects of controller parameters are investigated. Computational studies are performed for a batch polymerization system model developed in this study. A transfer function in parametric form is estimated by recursive least squares (RLS) method, and the UPC algorithm is implemented to control the reactor temperature on the basis of this transfer function. The adaptive unified predictive controller shows a better performance than the PID controller for tracking set point changes, especially in the latter part of reaction course when gel effect becomes significant. Various performance can be acquired by selecting adequate values for parameters of the adaptive unified predictive controller; in other words, the optimal set of parameters exists for a given set of reaction conditions and control objective.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.621-624
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• 2002

The purpose of this paper is a study on getting proper gain set of PID controller which satisfies multi-performance specifications of the control system. The multi-objective optimization method is introduced to evaluate specifications, and the genetic algorithm is used as an optimal problem solver. To enhance the performance of genetic algorithm itself, adaptive technique is included. According to the proposed method in this paper, finding suitable gain set can be more easily accomplishable than manual gain seeking and tuning.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.71-71
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• 2000

In this paper, the fuzzy system is applied to MCZ Crystal Grower using at industrial field. The existing controller, which is PID controller, has a fixed gain and as a result of it it can not have an adaptive control function against the error or disturbance. Hence, the machine operator should always check the process status and when the error is occurred, the quality and the productivity may be decreased by each personal capability. In order to remove this drawback, a fuzzy control system which is known to be adaptive and flexible is applied to the machine. After applying the fuzzy system, and compared with the existing system, the diameter deviation and the defects were decreased. we proved the possibility of application fuzzy system to single silicon crystal grower.

• 유공압시스템학회논문집
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• 제7권3호
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• pp.1-6
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• 2010

This paper deals with the issue of simple adaptive position control for a pump-controlled cylinder system. A fixed displacement pump is utilized instead of servo valve and its speed is controlled by AC motor. The whole control system is composed of a pair of interconnected subsystems, that is, a feedback control system and a feedforward control system. From experiments it is shown that position control using simple adaptive control can accomplish significant reduction in position tracking error comparing to a conventional PID control.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 대한전자공학회논문지
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• 제23권6호
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• pp.895-901
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• 1986

This paper presents direct adaptive controllers for single-input single-output nonminimum phase systems based on PID structures. Also, characteristics of these schemes are compared, and convergence properties are considered. In these schemes, controller parameters are estimated from the least-square algorithm and some additional auxiliary parameters are obtained from the proposed polynomial identity which is derived from the pole placement equation and the Bezout identity. The effectiveness of these schemes is demonstrated by computer simulation that has been carried out for a very difficult example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.63-67
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• 2004

The problem is improving the positioning precision of a permanent magnet linear synchronous motor (PMLSM). Thus, this paper presents the design and realization of an adaptive dither to reduce the force ripple in PMLSM. A composite control structure is used, consisting of three components: a simple feed-forward component, a PID feedback component and an adaptive feed-forward compensator (AFC). Especially adaptive feed-forward component cancel out detent force using wavelet transformation. Computer simulation results verify the effectiveness of the proposed scheme for high precision motion trajectory tracking using the PMLSM

• 조명전기설비학회논문지
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• 제21권8호
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• pp.87-95
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• 2007

본 논문에서는 영역기반의 MAD(Mean Absolute Difference) 알고리즘과 변형된 PID(Proportional Integral Derivative) 기반의 팬/틸트 제어기를 이용하여 적응적인 스테레오 물체추적을 수행함으로써 물체추적 시스템의 오류검출 및 안정도를 분석하였다. 즉 순차적인 스테레오 입력영상에 영역기반의 MAD 알고리즘과 스테레오 카메라의 기하학적 정보를 이용하여 좌, 우측 표적물체의 위치정보를 추출해 낸 다음, 이 값으로 변형된 PID 제어기에 사용하여 잡음들이 존재하는 환경에서도 스테레오 카메라의 팬/틸트를 효과적으로 제어할 수 있었다. 따라서 본 논문에서 제시된 알고리즘을 이용할 경우 3D 로봇비전과 같은 정밀시스템에서 이동하는 추적물체에 대한 적응적인 제어와 실질적인 로봇 시각 시스템의 구현 가능성을 확인하였다.