• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.149-153
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• 1989

This paper investigates the possibility of applying fuzzy algorithms to the collision avoidance problem of a cylindrical robot moving in a 3-dimensional workspace. The displacement information from the end-effector to the points via which the robot can avoid collisions is given by the human operator. Then this uncertain information is adopted for the fuzzy inference system for robot movements. The robot movement is simulated to verify the effectiveness of the proposed fuzzy algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.616-619
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• 1991

This paper describes the design of fuzzy logic controller for underwater vehicle actuator with high hydroload torque disturbance. For real-time processing of the fuzzy rule, the look-up tables including coarse mode and fine mode are used instead of inference engine process. Computer simulations are done in order to analyze the performance of the proposed algorithm and the very useful results are shown to us by comparing with the existing controller.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.112-116
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• 1992

In this paper, a fuzzy logic controller(FLC) is designed for the pointing loop of the spin-stabilized platform. For the fuzzy inference, a fuzzy accelerator board using the Togai InfraLogic software and digital fuzzy processor(DFP110FC) is designed, and a validation of an algorithm for fuzzy logic control is also presented. The pointing loop of the spin-stabilized platform using FLC has better performance of step responses than a proportional controller in case of same loop hain through the software simulation and the experiment of implemented hardware.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.6 no.4
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• pp.60-68
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• 1992

In this paper, an implementation approach of Fuzzy Position Controller for DC servo motor which requires the faster and more accurate dynamics is presented. Fuzzy position controller implemented with 80286 microprocessor and DT 2801 board consists of an adjustment routine of optimal scale factors and a Fuzzy inference routine of optimal control signals. Comparison to conventional PD controllers, the control performances of proposed Fuzzy controller such as reaching time, overshoot, and disturbance adaptability are substantially improved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.425-429
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• 1996

Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.693-695
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• 1997

This paper deals with the tracking control problem of robotic manipulators with unknown or changing dynamics. The torque input applied to the joint actuators is determined at every instance by the identification model that best approximates the robot dynamics. The best of the identified model is chosen by the proposed switching mechanism with fuzzy inference of the manipulator in an indirect adaptive controller architecture. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1262-1265
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• 1993

The paper discusses the problem of controlling systems with a very high number of input variables effectively by fuzzy If . . . then rules. The basic idea is the partition of the state space into domains, which step can be done even iteratively several times, and every domain has its own sub rule base referring to a considerably lower number of variables than the original space. In this manner the number of necessary rules is drastically reduced and time complexity of the control algorithm remains acceptable.

• Journal of Intelligence and Information Systems
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• v.1 no.2
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• pp.17-32
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• 1995

본 논문에서는 추론엔진 (inference engine)내에 퍼지정보 검색부(Fuzzy Information Retrieval part)를 갖는 교통신도 제어 전문가 시스템을 제안한다. 제안하는시스템은 다양하고 복잡한 도로 상화을 고려하여 그에 따른 적절한 주기를 각 도로별로 할당함으로써 원활한 교통 흐름을 제어한다. 추론엔진내의 퍼지정보 검색부는 퍼지 삼각 논리곱을 이용하여 도로의 상황을 분석한 후 각 도로에 맞는 가장 적절한 신호주기를 생성한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.323-326
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• 2006

Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.3
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• pp.50-56
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• 2001

As the fuzzy control is applied to servo system, the hardware implementation of the fuzzy information systems requires the high speed operations, short real time control and the small size systems. The aims of this study is to develop hardware of the fuzzy information systems to be apply to servo system. In this paper, we propose a calculation method of approximate reasoning for fuzzy control based on $\alpha$ -level set decomposition of fuzzy sets by quantize $\alpha$ -cuts. This method can be easily implemented with analog hardware. The influence of quantization Bevels of $\alpha$-cuts on output from fuzzy inference engine is investigated. It is concluded that 4 quantization levels give sufficient result for fuzzy control performance of dc servo system. The hardware implementation of proposed operation method and of the defuzzification by gravity center method which is directly converted to PWM actuating signal is also presented. It is verified useful with experiment for dc servo system.