• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.368-371
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• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.5 no.1 s.9
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• pp.31-43
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• 2006

As of March 2005, the standard of traffic signal controllers became effective. The standard presents specifications and functions of a traffic signal controller which collects traffic information, sends it to the traffic control center, and controls traffic signal with adequate traffic signal timing provided by the traffic control center. Since the controllers by the previous standard lack parts compatibility and have different control functions and communication protocol, the maintenance cost has been increased. Also, some important functions like conflict detection have not worked out perfectly. To overcome these disadvantages, first of all, this standard secures hardware compatibility. Conflict detection method has been enhanced. Communication protocol to the traffic control center was included in the standard. With this standard, independent maintenance system and prompt treatment of hardware malfunctions becomes possible. Also, the unified intersection traffic control method will increase traffic safety.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.3
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• pp.320-327
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• 1998

The purpose of this study is to design the intelligent speed control system for marine diesel engine by combining the Model Matching Method and the Nominal Model Tracking Method. Recently for the speed control of a diesel engine some methods using the advanced control techniques such as LQ control Fuzzy control or H$\infty$ control etc. have been reported. However most of speed controllers of a marine diesel engine developed are still using the PID control algorithm But the performance of a marine diesel engine depends highly on the parameter setting of the PID controllers. The authors proposed already a new method to tune efficiently the PID parameters by the Model Mathcing Method typically taking a marine diesel engine as a non-oscillatory second-order system. It was confirmed that the previously proposed method is superior to Ziegler & Nichols's method through simulations under the assumption that the parameters of a diesel engine are exactly known. But actually it is very difficult to find out the exact model of the diesel engine. Therefore when the model and the actual diesel engine are unmatched as an alternative to enhance the speed control characteristics this paper proposes a Model Refernce Adaptive Speed Control system of a diesel engine in which PID control system for the model of a diesel engine is adopted as the nominal model and a Fuzzy controller is adopted as the adaptive controller, And in the nominal model parameters of a diesel engine are adjusted using the Model Matching Method. it is confirmed that the proposed method gives better performance than the case of using only Model Matching Method through the analysis of the characteristics of indicial responses.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.2
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• pp.70-78
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• 1997

Proportional-integral-derivative(P1D) controllers have been still widely used in industrial processes due to their simplicity, effectiveness, robustness for a wide range of operating conditions, and the familiarity of control engineers. And a number of recent papers in fuzzy systems are showing that fuzzy systems are universal approximators. That is, fuzzy controllers are capable of approximating any real continuous function on a compact set of arbitrary accuracy. In this paper, we derive the linear PID control law from the fuzzy control algorithm where all fuzzy sets for representing plant state variables and a control variable use common triangular types. We first lead a linear PD control law from a fuzzy logic control with only two fuzzy sets for error and change-of-error. And then we derive the linear PID control law from a fuzzy controller. We here assumed that the intervals of error, change-of-error, and integral error could be partitioned into arbitrary numbers, respectively. As a result, a linear PID controller is only a sort of various fuzzy logic controls.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.4
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• pp.1-9
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• 2015

Since logical ground and method to deduct location to install Integrated Standard Controller under development to combine physically and functionally multiple enclosures of controllers for various ITS equipments on streets into one enclosure, there are much difficulty to apply it to site. Particularly we need to establish standardized methodology to deduct optimal location to integrate individual controllers installed dispersedly on streets such as node part and line part. Accordingly this study has the purpose of suggesting more reasonable and efficient methodology to determine location for Integrated Standard Controller to be developed newly. For this, new solution has been searched by using centroid which is utilized to decide facility location in urban planning. As the result of analysis, central point among centroid, in which equal connection to each equipment is possible is proved to be the most reasonable and correct coordinate and zone is proposed as installation location through designating coordinate system. The methodology suggested by this study seems to have high degree of utilization in site according to expansion of integrated standard controller market.

• Journal of Power Electronics
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• v.10 no.5
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• pp.505-517
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• 2010

In this paper, an intelligent sliding-mode speed controller for achieving favorable decoupling control and high precision speed tracking performance of permanent-magnet synchronous motor (PMSM) drives is proposed. The intelligent controller consists of a sliding-mode controller (SMC) in the speed feed-back loop in addition to an on-line trained wavelet-neural-network controller (WNNC) connected in parallel with the SMC to construct a robust wavelet-neural-network controller (RWNNC). The RWNNC combines the merits of a SMC with the robust characteristics and a WNNC, which combines artificial neural networks for their online learning ability and wavelet decomposition for its identification ability. Theoretical analyses of both SMC and WNNC speed controllers are developed. The WNN is utilized to predict the uncertain system dynamics to relax the requirement of uncertainty bound in the design of a SMC. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode speed controller. An experimental system is established to verify the effectiveness of the proposed control system. All of the control algorithms are implemented on a TMS320C31 DSP-based control computer. The simulated and experimental results confirm that the proposed RWNNC grants robust performance and precise response regardless of load disturbances and PMSM parameter uncertainties.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.609-618
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• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• IE interfaces
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• v.23 no.4
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• pp.349-356
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• 2010

The role of Intelligent Transportation System (ITS) is to efficiently manipulate the traffic flow and reduce the cost in logistics by using the state of the art technologies which combine telecommunication, sensor, and control technology. Especially, the hardware part of ITS is rapidly adapting to the up-to-date techniques in GPS and telematics to provide essential raw data to the controllers. However, the software part of ITS needs more sophisticated techniques to take care of vast amount of on-line data to be analyzed by the controller for their decision makings. In this paper, the authors develop a traffic congestion prediction model based on several different parameters from the sensory data captured in the Vehicle Detection System (VDS). This model uses the neural network technology in analyzing the traffic flow and predicting the traffic congestion in the designated area. This model also validates the results by analyzing the errors between actual traffic data and prediction program.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1074-1085
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• 2004

There are many intermediate web guides in cold rolling mills process such as CRM (cold rolling mill), CGL (continuous galvanizing line), EGL (electrical galvanizing line) and so on. The main functions of the web guides are to adjust the center line of the web (strip) to the center line of the steel process. So they are called CPC (center position control). Rapid process speed cause large deviation between the center position of the strip and the process line. Too much deviation is not desirable. So the difference between the center position of the strip and the process line should be compensated. In general, the center position control of the web is obtained by the hydraulic driver and electrical controller. In this paper, we propose modelling and several controller designs for web-guide systems. We model the web and guide by using geometrical relations of the guide ignored the mass and stiffness of the web. To control the systems, we propose PID controllers with their gains tuned by the Ziegler-Nichols method, the H$\_$$\infty$/ controller model-matching method, and the coefficient diagram method (CDM). CDM is modified for high order systems. The results are verified by computer simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.547-553
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• 2006

This paper studies digital control of biodynamic model of HIV-1 via intelligent digital redesign (IDR). The purpose of the IDR is to develop an equivalent digital fuzzy controller maintaining the satisfactory performance of an existing continuous-time fuzzy controller in the sense of the state-matching. Some conditions for the stability as well as the global state-matching are provided.. They are given by the form of the linear matrix inequalities (LMIs) and thereby easily tractable by the convex optimization techniques. The main features of the proposed method are that 1) the generalized control scheme is provided for the multirate as well as the single-rate digital controllers; 2) a new compensated block-pulse function method is applied to closely match the states of the continuous-time and the sampled-data fuzzy systems in the discrete-time domain; 3) the two-step procedure of IDR is presented to prevent the performance degradation caused by the additional stability conditions. The applicability of the proposed approach is shown through the biodynamic model of HIV-1.