• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.96.2-96
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• 2001

This paper presents a control method for the experimental mobile vehicle. By merging the advantages of neural network, adaptive and fuzzy control, neural network-based adaptive fuzzy control is proposed. It can deal with a large amount of training data by neural network, from these data producing more accurate fuzzy rules by adaptive control, and then controlling the object by fuzzy control. This is not the simple combination of the three methods, but merging them into one control system Experiments and some future considerations are given.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.57-62
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• 2003

It is difficult to determine the feeding rate of coagulant in the water treatment plant, due to nonlinearity, multivariables and slow response characteristics etc. To deal with this difficulty, the genetic-fuzzy system genetic-equation system and the neural network system were used in determining the feeding rate of the coagulant. Fuzzy system and neural network system are excellently robust in multivariables and nonlinear problems. but fuzzy system is difficult to construct the fuzzy parameter such as the rule table and the membership function. Therefore we made the genetic-fuzzy system by the fusion of genetic algorithms and fuzzy system, and also made the feeding rate equation by genetic algorithms. To train fuzzy system, equation parameter and neural network system, the actual operation data of the water treatment plant was used. We determined optimized feeding rates of coagulant by the fuzzy system, the equation and the neural network and also compared them with the feeding rates of the actual operation data.

• 전자공학회논문지B
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• 제33B권11호
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• pp.127-139
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• 1996

In this paper we propose a new controller design method using hybrid fuzzy-neural netowrk and neural network identification in order ot control systems which are more and more getting nonlinearity. Proposed method performs, for a nonlinear plant with unknown functions, hybird identification using a fuzzy-neural network and a neural network, and then a stable nonlinear controller is designed with those identified informations. To identify a nonlinear function, which is directly related to input signals, we can use a neural network which is satisfied with the proposed stable condition. To identify a nonlinear function, which is not directly related to input signals, we can use a fuzzy-neural network which has excellent identification characteristics. In order to verify excellent control performances of the proposed method, we compare the porposed control method with a conventional neural network control method through simulations and experiments with one link manipulator.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.552-563
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• 2005

In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of the wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of a mobile robot via the gradient descent (GD) method. In addition, an approach that uses adaptive learning rates for training of the WFNN controller is driven via a Lyapunov stability analysis to guarantee fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control results of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• 제어로봇시스템학회논문지
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• 제10권12호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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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.

• Nuclear Engineering and Technology
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• 제39권4호
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• pp.337-348
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• 2007

A fuzzy neural network model is presented to predict residual stress for dissimilar metal welding under various welding conditions. The fuzzy neural network model, which consists of a fuzzy inference system and a neuronal training system, is optimized by a hybrid learning method that combines a genetic algorithm to optimize the membership function parameters and a least squares method to solve the consequent parameters. The data of finite element analysis are divided into four data groups, which are split according to two end-section constraints and two prediction paths. Four fuzzy neural network models were therefore applied to the numerical data obtained from the finite element analysis for the two end-section constraints and the two prediction paths. The fuzzy neural network models were trained with the aid of a data set prepared for training (training data), optimized by means of an optimization data set and verified by means of a test data set that was different (independent) from the training data and the optimization data. The accuracy of fuzzy neural network models is known to be sufficiently accurate for use in an integrity evaluation by predicting the residual stress of dissimilar metal welding zones.

• 정보저장시스템학회논문집
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• 제6권1호
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• pp.18-24
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• 2010

The performance of the speech recognition mainly depends on uncertain factors such as speaker's conditions and environmental effects. The present study deals with the speech recognition of a number of multi-syllable isolated Korean words using soft computing techniques such as back-propagation neural network, fuzzy inference system, and fuzzy neural network. Feature patterns for the speech recognition are analyzed with 12th order thirty frames that are normalized by the linear predictive coding and Cepstrums. Using four models of speech recognizer, actual experiments for both single-speakers and multiple-speakers are conducted. Through this study, the recognizers of combined fuzzy logic and back-propagation neural network and fuzzy neural network show the better performance in identifying the speech recognition.

• 제어로봇시스템학회논문지
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• 제11권6호
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• pp.524-529
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• 2005

In this paper, a novel neural network compensation technique for PD like fuzzy controlled robot manipulators is presented. A standard PD-like fuzzy controller is designed and used as a main controller for controlling robot manipulators. A neural network controller is added to the reference trajectories to modify input error space so that the system is robust to any change in system parameter variations. It forms a neural-fuzzy control structure and used to compensate for nonlinear effects. The ultimate goal is same as that of the neuro-fuzzy control structure, but this proposed technique modifies the input error not the fuzzy rules. The proposed scheme is tested to control the position of the 3 degrees-of-freedom rotary robot manipulator. Performances are compared with that of other neural network control structure known as the feedback error learning structure that compensates at the control input level.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.36-39
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• 1996

This paper proposes identification and control algorithm of nonlinear systems and the proposed fuzzy-neural network has following characteristics. The network is roughly divided into premise and consequence. The consequence function is nonlinear function which consists of three parameters and the membership function in the premise contains of two parameters. The parameters in premise and consequence are learned by the extended back-propagation algorithm which has a modified form of the generalized delta rule. Simulation results on the identification show that this method is more effective than that of Narendra [3]. The indirect fuzzy-neural control is made of the fuzzy-neural identification and controller. Result on the indirect fuzzy-neural control shows that the proposed fuzzy-neural network can be efficiently applied to nonlinear systems.