• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.543-547
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• 2005

In this paper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.52-53
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• 2008

전력 설비가 증대되고 복잡해짐에 따라 보다 정밀한 제어가 요구되어지고 있다. 그러나 전력시스템의 비선형성으로 인해 정확한 해석이 용이하지 않다. T-S 퍼지 모델링 기법은 시스템의 비선형성을 선형행렬 부등식을 이용하여 해석 가능하게 한다. 본 논문에서는 비선형 4차 동기발전기 모델에 T-S 퍼지 모델링 기법을 적용하여 시스템 안정도를 해석하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.100-105
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• 2013

In this study, we analyze the balance of quadruped walking robots. For this purpose, a simplified polygonal model of a quadruped walking configuration is considered. A boundary-range-based balance margin is used for determining the system stability of the polygonal walking configuration considered herein. The balance margin enables the estimation of the walking configuration's balance for effective walking. The usefulness of the balance margin is demonstrated through exemplary simulations. Furthermore, balance compensation by means of foot stepping is addressed.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.373-376
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• 2008

본 논문은 퍼지 펄스 폭 변조 (Pulse-width-modulation: PWM) 시스템의 안정도에 대해 다루게 된다. 복잡성을 가진 비선형 시스템은 Takagi-Sugeno (T-S) 퍼지 모델에 의해 효율적으로 논의될 수 있다. 본 논문에서는 기존의 LTI 시스템에서 논의 되었던 PWM 제어기 설계 문제를 퍼지 시스템으로 확장시킴으로써 PWM 제어기에 대한 논의의 저변을 확대시키고자 한다. 또한, 리아푸노프 (Lyapunov) 안정도에 기반 한 안정도 증명을 통해 퍼지 PWM 시스템의 안정도를 분석하고자 한다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.4
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• pp.294-300
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• 2009

The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov theory. The validity and robustness of the controller are verified through simulation and experimental results

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.242-244
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• 2000

This paper presents a method for real-time estimation of TCSC quantity in order to enhance the power system transient stability energy margin using fuzzy neural network in multi-machine system. This paper has two parts, the first part is to estimate the energy margin. To set critical energy, we use the potential energy boundary surface(PEBS) method which one of the transient energy function(TEF) method. And the second is to determine the TCSC quantify and the line to be injected. In order to make training data in this step, we use genetic algorithm. The proposed method is applied to 6-bus, 7-line, 4-machine model system to show its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.442-442
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• 2000

The intelligent auto-tuning method fur a strongly stable adaptive control system of a DC motor with great load inertia variation is proposed. The stable characteristic polynomial that is designed by an optimal servo is specified for the adaptive pole placement control system. The appropriate adaptive control system can be derived, by adjusting automatically the weight of a performance criterion in optimal control by means of the fuzzy inference on the basis of the stability index.

• Proceedings of the KIEE Conference
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• 2001.07a
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• pp.149-151
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• 2001

This paper proposes the design of STATCOM(static synchronous compensator) stabilizer for improving power system stability using fuzzy logic controller(FLC). The STATCOM DC voltage regulator contributes negative damping to the power system as the installation of STATCOM DC voltage regulator. STATCOM stabiliser is superimposed on the AC voltage regulator to compensate the negative damping effect. To evaluate usefulness of the proposed method, we perform the nonlinear simulation on a single-machine infinite bus system. As results of the simulations, the proposed method shows better control performance than PI controller in terms of damping effects.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.3
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• pp.171-180
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• 2014

In this paper, a multiple sliding surface (MSS) controller for a twin rotor multi-input-multioutput system (TRMS) with mismatched model uncertainties is proposed. The nonlinear terms in the model are regarded as model uncertainties, which do not satisfy the standard matching condition, and an MSS control technique is adopted to overcome them. In order to control the position of the TRMS, the system dynamics are pseudo-decomposed into horizontal and vertical subsystems, and two MSSs are separately designed for each subsystem. The stability of the TRMS with the proposed controller is guaranteed by the Lyapunov stability theory. Some simulation results are given to verify the proposed scheme, and the real time performances of the TRMS with the MSS controller show the effectiveness of the proposed controller.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.3
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• pp.394-401
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• 2010

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing precision positioning performance a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle robustness problem for uncertainty, a RFNN and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov's stability theory. Some simulations and experiments on a servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.