• 제어로봇시스템학회논문지
• /
• 제10권12호
• /
• pp.1223-1232
• /
• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 전기학회논문지
• /
• 제63권6호
• /
• pp.727-737
• /
• 2014

This paper presents the design of Fuzzy PI controller that is used at BESS(Battery Energy Storage System) charging and discharging process for islanded operation in microgrid. Most of the PI controllers have fixed PI gains, but real-time updated gains are applied to PI controller using Fuzzy logic in this paper. The performances of suggested Fuzzy PI controller are simulated by PSCAD/EMTDC. As a result, output characteristics of ESS applied real-time updated gains to PI controller are faster than those of using fixed gains.

• Structural Engineering and Mechanics
• /
• 제76권6호
• /
• pp.781-797
• /
• 2020

In recent years, there is an increasing interest to optimize the fuzzy logic controller with different methods. This paper focuses on the optimization of a fuzzy logic controller applied to a seismically excited nonlinear building. In most cases, this problem is formulated based on the linear behavior of the structure, however in this paper, four sets of objective functions are considered with respect to the nonlinear responses of the structure as the peak interstory drift ratio, the peak level acceleration, the ductility factor and the maximum control force. The Improved Charged System Search is used to optimize the membership functions and the rule base of the fuzzy controller. The obtained results of the optimized and the non-optimized fuzzy controllers are compared to the uncontrolled responses of the structure. Also, the performance of the utilized method is compared with various classical and advanced optimization algorithms.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 B
• /
• pp.897-899
• /
• 1999

This paper presents a scaling factor tuning method to improve the performance of fuzzy logic controller. Tuning rules and reasoning are utilized off-line to determine the scaling factors based on absolute value of the error and its difference. In this paper We proposed a new method to generate fuzzy logic controllers throught genetic algorithm. The developed approach is subsequently applied to the design of proportional plus integral type fuzzy controller for a dc-servo motor control system. The performance of this control system is demonstrated higher than a conventional fuzzy logic controller(FLC).

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2015년도 제46회 하계학술대회
• /
• pp.845-847
• /
• 2015

A suspending force control based on fuzzy logic control is proposed to apply on a novel hybrid bearingless switched reluctance motor(BLSRM) which has separated torque and suspending force pole. Due to the unique structure, the suspending force control system can be easily decoupled from torque control system. In this paper, two fuzzy controller targeted at x-axis direction and y-axis direction are adopted to maintain the shaft at center position, which is very necessary for stable operation of BLSRM. By replacing the traditional PI block with modified fuzzy logic controller, the suspending system can behave a good performance, and the proposed scheme can be verified by simulation results.

• Smart Structures and Systems
• /
• 제31권2호
• /
• pp.199-212
• /
• 2023

Nowadays fuzzy logic in control applications is a well-recognized alternative, and this is thanks to its inherent advantages. Generalized type-2 fuzzy sets allow for a third dimension to capture higher order uncertainty and therefore offer a very powerful model for uncertainty handling in real world applications. With the recent advances that allowed the performance of general type-2 fuzzy logic controllers to increase, it is now expected to see the widespread of type-2 fuzzy logic controllers to many challenging applications in particular in problems of structural control, that is the case study in this paper. It should be highlighted that this is the first application of general type-2 fuzzy approach in civil structures. In the following, general type-2 fuzzy logic controller (GT2FLC) will be used for active control of a 9-story nonlinear benchmark building. The design of type-1 and interval type-2 fuzzy logic controllers is also considered for the purpose of comparison with the GT2FLC. The performance of the controller is validated through the computer simulation on MATLAB. It is demonstrated that extra design degrees of freedom achieved by GT2FLC, allow a greater potential to better model and handle the uncertainties involved in the nature of earthquakes and control systems. GT2FLC outperforms successfully a control system that uses T1 and IT2 FLCs.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.128.4-128
• /
• 2001

Based on fuzzy logic algorithm this paper constructed fuzzy logic controller for automated vehicles. For passenger´s convenience especially comfortability controller need to reduce the frequency of input variable´s changing. So we established membership functions for comfortability as well as speed following. It made possible to control comfortability directly. To demonstration the efficiency of fuzzy logic controller, we carried out simulation with a automobile´s transfer function. First, we designed the PID controller by using Ziegler-Nichols tunning method. Second, we calculated time response for each controller, then we compared the speed patterns of fuzzy controlled system and PID controlled system. Also we compared the difference of input variable ...

• 전자공학회논문지S
• /
• 제35S권1호
• /
• pp.60-67
• /
• 1998

In this paper, a gain scheduling method of PID controller is proposed using fuzzy logic for balancing control of an inverted pendulum. First, gains of PID controller are calculated using pole-placement technique for the linearized model of an inverted pendulum and these gains are modified by fuzzy logic throughout control operations. A PD controller is used by switching near the set-point to improve the performance. It is illustrated by simulations that the proposed hybrid fuzzy control method yidels smaller rising time and overshoot compared to the fixed-gain PID controller or fuzzy logic-based only PID controller.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 B
• /
• pp.678-680
• /
• 1998

Based on fuzzy logic algorithm this paper constructed fuzzy logic controller for automated vehicles. For passenger's convenience especially comfortability controller need to reduce the frequency of input variable's changing. So we established membership functions for comfortability as mil as speed following. It made possible to control comfortability directly. To demonstration the efficiency of fuzzy logic controller, we carried out simulation with a Automobile's transfer function. First, we designed the PID controller by using Ziegler-Nichols tunning method. Second, we calculated time response for each controller, then we compared the speed patterns of fuzzy controlled system and PID controlled system. Also we compared the difference of input variable. By comparing two controller's response, we can confirm the merit of fuzzy controller about comfortability. Fuzzy controller can reduce input changing frequency.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.780-785
• /
• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.