• Title/Summary/Keyword: Fuzzy logic Controller

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Control and Synchronization of New Hyperchaotic System using Active Backstepping Design

  • Yu, Sung-Hun;Hyun, Chang-Ho;Park, Mi-Gnon
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.2
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    • pp.77-83
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    • 2011
  • In this paper, an active backstepping design is proposed to achieve control and synchronization of a new hyperchaotic system. The proposed method is a systematic design approach and exists in a recursive procedure that interlaces the choice of a Lyapunov function with the design of the active control. The proposed controller enables stabilization of chaotic motion to the origin as well as synchronization of the two identical new hyperchaotic systems. Numerical simulations illustrate the validity of the proposed control technique.

Evolvable Neural Networks Based on Developmental Models for Mobile Robot Navigation

  • Lee, Dong-Wook;Seo, Sang-Wook;Sim, Kwee-Bo
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.7 no.3
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    • pp.176-181
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    • 2007
  • This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

Study on the Parameter Auto Tuned Genetic Algorithm for OCST Design Problems (최적 통신 스패닝 트리 설계 문제를 위한 파라미터 자동조절 유전알고리즘에 대한 연구)

  • Kim, Jong Ryul
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2009.05a
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    • pp.857-860
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    • 2009
  • 최근 유무선 통신 시스템의 발전에 따른 인터넷 환경의 급격한 변화는 가상공간의 출현과 유비쿼터스 컴퓨팅 환경 구축에 대한 요구를 가속화시키고 있으며 이와 관련된 이론 및 기술의 발전을 주도해 왔다. 이와 관련한 문제들 중에 가장 근간이 되는 문제들 중 하나는 최적 통신 스패닝 트리(OCST: Optimal Communication Spanning Tree) 문제이다. 본 논문에서는 이러한 최적 통신 스패닝 트리 문제를 해결하기 위해 파라미터를 자동 조절하는 유전 알고리즘 (Parameter Auto Tuned GA, PAT-GA)을 이용한다. 제안하는 유전 알고리즘은 교차율, 돌연변이율과 같은 파라미터를 자동조절하기 위해 퍼지 논리 제어기 (FLC: Fuzzy Logic Controller)를 이용한다. 임의로 생성된 예제에 대한 수치 실험을 통해 통신시스템의 기본 문제 중 하나인 최적 통신 스패닝 트리 문제의 해법으로서의 제안 알고리즘의 유용성과 효율성을 확인한다.

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Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Post-Chlorination Process Control based on Flow Prediction by Time Series Neural Network in Water Treatment Plant

  • Lee, HoHyun;Shin, GangWook;Hong, SungTaek;Choi, JongWoong;Chun, MyungGeun
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.16 no.3
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    • pp.197-207
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    • 2016
  • It is very important to maintain a constant chlorine concentration in the post chlorination process, which is the final step in the water treatment process (hereafter WTP) before servicing water to citizens. Even though a flow meter between the filtration basin and clear well must be installed for the post chlorination process, it is not easy to install owing to poor installation conditions. In such a case, a raw water flow meter has been used as an alternative and has led to dosage errors due to detention time. Therefore, the inlet flow to the clear well is estimated by a time series neural network for the plant without a measurement value, a new residual chlorine meter is installed in the inlet of the clear well to decrease the control period, and the proposed modeling and controller to analyze the chlorine concentration change in the well is a neuro fuzzy algorithm and cascade method. The proposed algorithm led to post chlorination and chlorination improvements of 1.75 times and 1.96 times respectively when it was applied to an operating WTP. As a result, a hygienically safer drinking water is supplied with preemptive response for the time delay and inherent characteristics of the disinfection process.

Memory Organization for a Fuzzy Controller.

  • Jee, K.D.S.;Poluzzi, R.;Russo, B.
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.1041-1043
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    • 1993
  • Fuzzy logic based Control Theory has gained much interest in the industrial world, thanks to its ability to formalize and solve in a very natural way many problems that are very difficult to quantify at an analytical level. This paper shows a solution for treating membership function inside hardware circuits. The proposed hardware structure optimizes the memoried size by using particular form of the vectorial representation. The process of memorizing fuzzy sets, i.e. their membership function, has always been one of the more problematic issues for the hardware implementation, due to the quite large memory space that is needed. To simplify such an implementation, it is commonly [1,2,8,9,10,11] used to limit the membership functions either to those having triangular or trapezoidal shape, or pre-definite shape. These kinds of functions are able to cover a large spectrum of applications with a limited usage of memory, since they can be memorized by specifying very few parameters ( ight, base, critical points, etc.). This however results in a loss of computational power due to computation on the medium points. A solution to this problem is obtained by discretizing the universe of discourse U, i.e. by fixing a finite number of points and memorizing the value of the membership functions on such points [3,10,14,15]. Such a solution provides a satisfying computational speed, a very high precision of definitions and gives the users the opportunity to choose membership functions of any shape. However, a significant memory waste can as well be registered. It is indeed possible that for each of the given fuzzy sets many elements of the universe of discourse have a membership value equal to zero. It has also been noticed that almost in all cases common points among fuzzy sets, i.e. points with non null membership values are very few. More specifically, in many applications, for each element u of U, there exists at most three fuzzy sets for which the membership value is ot null [3,5,6,7,12,13]. Our proposal is based on such hypotheses. Moreover, we use a technique that even though it does not restrict the shapes of membership functions, it reduces strongly the computational time for the membership values and optimizes the function memorization. In figure 1 it is represented a term set whose characteristics are common for fuzzy controllers and to which we will refer in the following. The above term set has a universe of discourse with 128 elements (so to have a good resolution), 8 fuzzy sets that describe the term set, 32 levels of discretization for the membership values. Clearly, the number of bits necessary for the given specifications are 5 for 32 truth levels, 3 for 8 membership functions and 7 for 128 levels of resolution. The memory depth is given by the dimension of the universe of the discourse (128 in our case) and it will be represented by the memory rows. The length of a world of memory is defined by: Length = nem (dm(m)+dm(fm) Where: fm is the maximum number of non null values in every element of the universe of the discourse, dm(m) is the dimension of the values of the membership function m, dm(fm) is the dimension of the word to represent the index of the highest membership function. In our case then Length=24. The memory dimension is therefore 128*24 bits. If we had chosen to memorize all values of the membership functions we would have needed to memorize on each memory row the membership value of each element. Fuzzy sets word dimension is 8*5 bits. Therefore, the dimension of the memory would have been 128*40 bits. Coherently with our hypothesis, in fig. 1 each element of universe of the discourse has a non null membership value on at most three fuzzy sets. Focusing on the elements 32,64,96 of the universe of discourse, they will be memorized as follows: The computation of the rule weights is done by comparing those bits that represent the index of the membership function, with the word of the program memor . The output bus of the Program Memory (μCOD), is given as input a comparator (Combinatory Net). If the index is equal to the bus value then one of the non null weight derives from the rule and it is produced as output, otherwise the output is zero (fig. 2). It is clear, that the memory dimension of the antecedent is in this way reduced since only non null values are memorized. Moreover, the time performance of the system is equivalent to the performance of a system using vectorial memorization of all weights. The dimensioning of the word is influenced by some parameters of the input variable. The most important parameter is the maximum number membership functions (nfm) having a non null value in each element of the universe of discourse. From our study in the field of fuzzy system, we see that typically nfm 3 and there are at most 16 membership function. At any rate, such a value can be increased up to the physical dimensional limit of the antecedent memory. A less important role n the optimization process of the word dimension is played by the number of membership functions defined for each linguistic term. The table below shows the request word dimension as a function of such parameters and compares our proposed method with the method of vectorial memorization[10]. Summing up, the characteristics of our method are: Users are not restricted to membership functions with specific shapes. The number of the fuzzy sets and the resolution of the vertical axis have a very small influence in increasing memory space. Weight computations are done by combinatorial network and therefore the time performance of the system is equivalent to the one of the vectorial method. The number of non null membership values on any element of the universe of discourse is limited. Such a constraint is usually non very restrictive since many controllers obtain a good precision with only three non null weights. The method here briefly described has been adopted by our group in the design of an optimized version of the coprocessor described in [10].

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A Study on the Detection Technique of the Flame and Series arc by Poor Contact (접촉 불량에 의한 불꽃 및 직렬아크의 검출 기법에 관한 연구)

  • Woo, Kim Hyun;Hyun, Baek Dong
    • Fire Science and Engineering
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    • v.26 no.6
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    • pp.24-30
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    • 2012
  • This study is on the method of the detection for flame and series arc which can be happened at poor contact point added a vibration in part of contact point of low voltage line. In general, the causes of electric fire are over current, short circuit, poor contact, ect. The over-current or short circuit among those causes is detected by measuring a instant current value, but poor contact is difficult to detect by measuring a excessive value of the voltage and current and a distortion of waveforms. And therefore, in this paper, it is studied on the optimal technique of the arc judgement using fuzzy logic and MDET (Multi Dimension Estimation Technique). And it carries out the simulation for arc detection and the experiment for controller and load test. In result, the controller and detection algoristhm, is classified with normal wave and abnormal arc wave without relation with each loads and so the controller can detect a series arc successfully.

Fuzzy Control of Smart Base Isolation System using Genetic Algorithm (유전자알고리즘을 이용한 스마트 면진시스템의 퍼지제어)

  • Kim, Hyun-Su;Roschke, P.N.
    • Journal of the Earthquake Engineering Society of Korea
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    • v.9 no.2 s.42
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    • pp.37-46
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    • 2005
  • To date, many viable smart base isolation systems have been proposed and investigated. In this study, a novel friction pendulum system (FPS) and an MR damper are employed as the isolator and supplemental damping device, respectively, of the smart base isolation system. A fuzzy logic controller (FLC) is used to modulate the MR damper because the FLC has an inherent robustness and ability to handle non linearities and uncertainties. A genetic algorithm (GA) is used for optimization of the FLC. The main purpose of employing a GA is to determine appropriate fuzzy control rules as well to adjust parameters of the membership functions. To this end, a GA with a local improvement mechanism is applied. This method is efficient in improving local portions of chromosomes. Neuro fuzzy models are used to represent dynamic behavior of the MR damper and FPS. Effectiveness of the proposed method for optimal design of the FLC is judged based on computed responses to several historical earthquakes. It has been shown that the proposed method can find optimal fuzzy rules and the GA optimized FLC outperforms not only a passive control strategy but also a human designed FLC and a conventional semi active control algorithm.

Cooling Control of Greenhouse Using Roof Window Ventilation by Simple Fuzzy Algorithm (단순 퍼지 제어기법을 이용한 온실의 천창환기에 의한 냉방제어)

  • Min, Young-Bong;Yoon, Yong-Cheol;Huh, Moo-Ryong;Kang, Dong-Hyun;Kim, Hyeon-Tae
    • Journal of agriculture & life science
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    • v.44 no.4
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    • pp.69-77
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    • 2010
  • Fuzzy control is widely used for improving temperature control performance as controlling ventilation in greenhouse because the technique can respond more flexibly to the outside air temperature and wind speed. By pre-studied PID and normal fuzzy control this study was performed to obtain the fundamental data that can be established in better greenhouse ventilation control method. The temperature control error by the simple fuzzy control was $1.2^{\circ}C$. The accumulated operating size of the window and the number of operating were 84% and 13, respectively. These showed equivalent control performance with pre-studied result that control error. The accumulated operating size of the window and the number of operating were 75% and 12, respectively. The proposed fuzzy technique was simple control logic method compared with step and PID control methods, but it showed equivalent performance. Therefore, the proposed simple fuzzy control method could be used in micro controller of small programmable memory size and many applications.

An Optimal Design of Neuro-Fuzzy Logic Controller Using Lamarckian Co-adaptation of Learning and Evolution (학습과 진화의 Lamarckian 상호 적응에 의한 뉴로-퍼지 제어기의 최적 설계)

  • 김대진;이한별;강대성
    • Journal of the Korean Institute of Telematics and Electronics C
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    • v.35C no.12
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    • pp.85-98
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    • 1998
  • This paper proposes a new design method of neuro-FLC by the Lamarckian co-adaptation scheme that incorporates the backpropagation learning into the GA evolution in an attempt to find optimal design parameters (fuzzy rule base and membership functions) of application-specific FLC. The design parameters are determined by evolution and learning in a way that the evolution performs the global search and makes inter-FLC parameter adjustments in order to obtain both the optimal rule base having high covering value and small number of useful fuzzy rules and the optimal membership functions having small approximation error and good control performance while the learning performs the local search and makes intra-FLC parameter adjustments by interacting each FLC with its environment. The proposed co-adaptive design method produces better approximation ability because it includes the backpropagation learning in every generation of GA evolution, shows better control performance because the used COG defuzzifier computes the crisp value accurately, and requires small workspace because the optimization procedure of fuzzy rule base and membership functions is performed concurrently by an integrated fitness function on the same fuzzy partition. Simulation results show that the Lamarckian co-adapted FLC produces the most superior one among the differently generated FLCs in all aspects such as the number of fuzzy rules, the approximation ability, and the control performance.

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