• 전기학회논문지
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• 제57권12호
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• pp.2322-2329
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• 2008

In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of particle swarm optimization(PSO) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling facrors) of each fuzzy controller using PSO. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on PSO, is presented in comparison with the conventional PD cascade controller based on serial genetic alogritms.

• 전자공학회논문지B
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• 제29B권9호
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• pp.76-87
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• 1992

A novel self-organizing fuzzy plus PD control algorithm is proposed, where the proposed controller consists of a typical fuzzy reasoning part and self organizing part in which both on-line and off-line algorithms are employed to modify the Look-Up Table(LUT) for the fuzzy control rules and to decide how much fuzzy rules are to be modifid after evaluating the control performance, respectively. And the fuzzy controller is replaced by a PD controller in a prespecified region nearby the set point for good settling actions, where gain parameters are determined by fuzzy rules based on the magnitude of error velocity at the instant when the output penetrates into the prespecified region. To show the effectiveness of the proposed controller, extensive computer simulation results as well as experimental results are illustrated for an inverted pendulum system.

• 한국지능시스템학회논문지
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• 제5권4호
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• pp.67-76
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• 1995

퍼지 제어기에 관한 최근 연구에서, 연산의 간략성을 위해 퍼지 제어 규칙의 후건부에 대하여 퍼지 집합 대신에 크리스프 값을 사용하는 크리스프 타입 퍼지 제어기 모델이 다양한 분양의 응용에 널리 이용괴고 있다. 이 논문에서는 max-min 추론법 및 product-sum 추론법에 기초한 크리스프 타입 퍼지 제어기의 동특성을 해석하였다. 해석결과, 크리스프 타입 퍼지 제어기는 근사적으로 PD 제어기와 같이 동작함을 보였다.

• International Journal of Ocean System Engineering
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• 제3권1호
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• pp.16-21
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• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• KIEE International Transactions on Electrophysics and Applications
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• 제5C권3호
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• pp.138-142
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• 2005

In this paper, we compared recognition rates between NN(neural networks) and clustering method as a scheme of off-line PD(partial discharge) diagnosis which occurs at the stator coil of traction motor. To acquire PD data, three defective models are made. PD data for classification were acquired from PD detector. And then statistical distributions are calculated to classify model discharge sources. These statistical distributions were applied as input data of two classification tools, BP(Back propagation algorithm) and ANFIS(adaptive network based fuzzy inference system) pre-processed FCM(fuzzy c-means) clustering method. So, classification rate of BP were somewhat higher than ANFIS. But other items of ANFIS were better than BP; learning time, parameter number, simplicity of algorithm.

• 한국공작기계학회논문집
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• 제11권2호
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• pp.50-58
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• 2002

The test method using simulator to objectively measure the steering feel from several drivers was proposed. It has also described the ideas to analyse the principal factors affecting the steering feel of the driver using the correlation analysis of the measured data and the questionnaire. Proportional Derivative(PD) controller has been used to measure the steering feel, and the control parameters have been selected to obtain the optimal steering feel. Membership frictions of Sugeno fuzzy model are constructed from the assist torque values calculated from PD controller at each steering state. Moreover to verify the performance, this fuzzy controller has been compared with the another fuzzy controller of which membership frictions are derived from the knowledge of drivers. As a result it can be concluded that the proposed fuzzy controller improves the steering feel at each steering state more than any other conventional methods.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.888-892
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• 2002

본 논문에서는 Hybrid형 퍼지-PID 제어기와 모델참조 퍼지제어기를 이용하여 병렬형 퍼지 제어기를 설계 하였다. 먼저 첫 번째 제어기는 퍼지 PI와 퍼지 PD가 결합한 Hybrid형 퍼지-PID 제어기로서 원하는 응답특성에 대해 안정하게 도달하는 목적과 플랜트에 대해 외란이 발생한 경우 외란을 극복할 수 있는 역할을 하게 된다. 그리고 두 번째 제어기인 모델참조 퍼지제어기는 원하는 응답에 대해 빠른 응답을 나타낼 수 있도록 설계하였다. 본 논문에서 설계된 병령형 퍼지제어기를 이용하여 DC 모터에 적용하여 응답특성을 살펴본 결과 빠르고 안정된 응답특성과 또한 외란이 발생한 경우 빠른 시간에서 외란을 극복함을 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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• pp.118-121
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• 2003

Generally, the repeater in CDMA(Code Division Multiple Access) included HPA(HI-Power Amplifier) to amplifier communication signals. Also , HPA contained PD(Predistortor) to maintain the linearization of amplifier characteristics. A configuration component of PD have been used electricity nonlinear devices such that diode. But this diode takes many influences at the circumstance temperature. Consequently, it can't maintain output linearization, and drop the communication quality. The manufacturer set bias of the circuit to the manual at the first out of ware-house low But the Q-point changes according to the change of the high temperature or low temperature. Therefore, we designed a system to maintain the Q-point by FDM(Fuzzy Decision Maker) in this paper.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 춘계 학술대회 학술발표 논문집
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• pp.283-286
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• 2003

Generally, the repeater in CDMA(Code Division Multiple Access) included HPA(HI-Power Amplifier) to amplifier communication signals. Also, HPA contained PD(Predistortor) to maintain the linearization of amplifier characteristics A configuration component of PD have been used electricity nonlinear devices such that diode. But this diode takes many influences at the circumstance temperature. Consequently, st can't maintain output linearization, and drop the communication Duality. The manufacturer set bias of the circuit to the manual at the first out of ware-house low. But the Q-point changes according to the change of the high temperature or low temperature. Therefore, we designed a system to maintain the Q-point by FDM(Fuzzy Decision Maker) in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.490-492
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• 1998

In this paper, fuzzy-PD control system is designed to control angle and position of the inverted pendulum. To optimize parameters of fuzzy-PD controller, we used adaptive evolutionary computation(AEC). AEC uses a Genetic A1gorithm(GA) and an Evolution Strategy(ES) in an adaptive manner in order to take merits of two different evolutionary computations.