• East Asian mathematical journal
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• 제27권3호
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• pp.289-297
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• 2011

The introduction of fuzzy differential equation is to deal wit fuzzy dynamic systems. As classical differential equations, it is difficult to find the solutions to all fuzzy differential equations. In this paper an existence and uniqueness theorem for linear fuzzy differential equations is obtained. Moreover, the exact solution to linear fuzzy differential equation is given.

• 한국정밀공학회지
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• 제33권8호
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• 한국지능시스템학회논문지
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• 제15권1호
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• pp.24-29
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• 2005

일반적으로 다변수 계통에 대한 퍼지 제어에서 퍼지 규칙을 얻기가 어려워 입출력 사이의 페어링을 이용한 독립적인 단일 입력 단일 출력의 병렬 구조를 이용한다. 그러나, 결합되지 않은 입출력 변수간의 상호작용으로 제어 성능에 나쁜 영향을 준다. 특히, 강한 결합 특성을 가진 계통의 경우 제어 성능을 아주 저하시킨다. 본 논문에서는 이러한 상호작용에 의한 영향을 보상해주기 위해 상대 이득 행렬을 이용한 신경 회로망을 도입하였다 제안한 뉴로 퍼지 제어기는 역전파 알고리즘으로 학습되며 강호작용에 대한 결합강도를 자동으로 조정하여준다. 제안한 뉴로 퍼지 제어기의 성능을 200MW급 보일러 계통에 대한 컴퓨터 모의실험을 통해 입증하였다.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.438-447
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• 2006

Fuzzy controller's design depends mainly on the rule base and membership functions over the controller's input and output ranges. This paper presents two different approaches to deal with these design issues. A simple and efficient approach; namely, Fuzzy Subtractive Clustering is used to identify the rule base needed to realize Fuzzy PI and PD type controllers. This technique provides a mechanism to obtain the reduced rule set covering the whole input/output space as well as membership functions for each input variable. But it is found that some membership functions projected from different clusters have high degree of similarity. The number of membership functions of each input variable is then reduced using a similarity measure. In this paper, the fuzzy subtractive clustering approach is shown to reduce 49 rules to 8 rules and number of membership functions to 4 and 6 for input variables (error and change in error) maintaining almost the same level of performance. Simulation on a wide range of linear and nonlinear processes is carried out and results are compared with fuzzy PI and PD type controllers without clustering in terms of several performance measures such as peak overshoot, settling time, rise time, integral absolute error (IAE) and integral-of-time multiplied absolute error (ITAE) and in each case the proposed schemes shows an identical performance.

• International Journal of Reliability and Applications
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• 제1권2호
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• pp.123-131
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• 2000

This paper concerns with the consistent estimator for the fuzzy expectation of a random variable taking values in the space F($R^p$) of upper semicontinuous convex fuzzy subsets of $R^p$ with compact support. We introduce the concept of a fuzzy sample mean and show that the fuzzy sample mean is a strong consistent estimator for the fuzzy expectation. Some examples are given to illustrate the main result.

• Journal of applied mathematics & informatics
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• 제27권5_6호
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• pp.1459-1463
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• 2009

Recently, Zhao et.al [European Journal of Operational Research 169 (2006) 189-201] discussed a random fuzzy renewal process based on random fuzzy theory. They considered the rate of the random fuzzy renewal process and presented a random fuzzy elementary renewal theorem. They also established Blackwell's theorem in random fuzzy sense. But all these results are invalid. We give a counter example in this note.

• Journal of the Korean Data and Information Science Society
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• 제17권1호
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• pp.195-204
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• 2006

In this paper, we consider a renewal process in which both the inter-arrival times and rewards are fuzzy random variables. We prove the uniform levelwise convergence of fuzzy renewal and fuzzy renewal rewards. These results improve the result of Popova and Wu[European J. Oper. Research 117(1999), 606-617] and the main result of Hwang [Fuzzy Sets and Systems 116 (2000), 237-244].

• 대한기계학회논문집A
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• 제21권1호
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• pp.32-44
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• 1997

A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control system(VSCS). The MSS was disigned to pass arbitrary initial conditions, and subsequently moved towards a predetermined sliding surface by rotating and/or shifting. This methodology led to fast and robust control responses of the second-order VSCS, especially in a reaching phase. However, the moving algorithm of the MSS was too complicated to be employed to the high-order VSCS. To resolve this problem, a new moving algorithm based on the fuzzy theory is proposed in this paper. For the generalization of the MSS, the conditions for rotating or shifting are firstly investigated. Then the fuzzy algorithm is formulated by adopting the values of the surface function and the total discontinuity gain as input variables, and the variation of the surface function as output variable. The position control problem of an electrohydraulic servomechanism is adopted in order to demonstrate the efficiency and the feasibility of the proposed MSS associated with fuzzy algorithm.

• 한국지능시스템학회논문지
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• 제7권2호
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• pp.43-50
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• 1997

쓰러기 소각로는 다음과 같은 불명확한 요소들을 포함한다. 즉 연료로 사용되는 쓰레기의 물리적 특성의변동 그리고 연소현상의 복잡성 등이다. 이것은 기존의 제어기법을 쓰레기의 연소제어에 적용하기가 매우 어렵게 만든다. 따라서 대부분의 쓰레기 소각로는 조작자의 운전에 의존한다. 본 논문에서는 쓰레기 소각로의 연소제어를 위한 다변수퍼지모델 예측제어를 제안한다. 쓰레기 소각로의 모델을 구하기 위해 적응 네트워크에 기초한 퍼자추론시스템이 사용되고 동정된 퍼지 모델을 이용하여 다변수 퍼지모델 예측제어기가 설계된다. 그리고 제안된 제어기의 성능을 평가하기 위해 컴퓨터 시뮬레이션이 수행되었다.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.264-268
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• 2011

This paper presents a Takagi-Sugeno (T-S) type Fuzzy Logic Controller (FLC) with only 3 rules. The choice of parameters of FLC is very difficult job on design FLC. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, since fuzzy controller is nonlinear, it is difficult to analyze mathematically the affection of the linguistic variable. So this choice is depend on the expert's experience and trial and error method. In this paper, we propose the method to choose the consequence linear equation's parameter of T-S type FLC. The parameters of consequence linear equations of FLC are tuned according to the system error that is the input of FLC. The full equation of T-S type FLC is presented and using this equation, the relation between output and parameters can represented. The parameters are tuned with gradient algorithm. The parameters are changed depending on output. The simulation results demonstrate the usefulness of this T-S type 3 rule fuzzy controller.