• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.121-124
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• 2006

본 논문에서는 Bacterial Foraging Algorithm과 FCM(fuzzy c-means)클러스터링을 이용하여 TSK(Takagi-Sugeno-Kang)형태의 퍼지 규칙 생성과 퍼지 시스템(FCM-ANFIS)을 효과적으로 구축하는 방법을 제안한다. 구조동정에서는 먼저 PCA(Principal Component Analysis)을 이용하여 입력 데이터 성분간의 상관관계를 제거한 후에 FCM을 이용하여 클러스터를 생성하고 성능지표에 근거해서 타당한 클러스터의 수, 즉 퍼지 규칙의 수를 얻는다. 파라미터 동정에서는 Bacterial Foraging Algorithm을 이용하여 전제부 파라미터를 최적화 시킨다. 결론부 파라미터는 RLSE(Recursive Least Square Estimate)에 의해 추정되어진다. PCA(Principal Component Analysis)와 FCM을 적용함으로써 타당한 규칙 수를 생성하였고 Bacterial Foraging Algorithm을 이용하여 최적의 전제부 파라미터를 구하였다. 제안된 방법의 성능을 평가하기 위하여 Box-Jenkins의 가스로 데이터와 Rice taste 데이터의 모델링에 적용하였고 우수한 성능을 보임을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.109.6-109
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• 2002

In this paper, the scheme of fuzzy system construction using GA(genetic algorithm) and FCM(Fuzzy c-means) clustering algorithm is proposed for TSK(Takagi-Sugeno-Kang) type fuzzy system. in the structure identification, input data is trans-formed by PCA(Principal Component Analysis) to reduce the correlation among input data components. And then, the number of fuzzy rule is obtained by a given performance criterion. In the parameter identification, the premise parameters are optimally searched by GA. On the other hand, the consequent parameters are estimated by RLSE(Recursive Least Square Estimate) to reduce the search space. From this, one can systematically obtain optimal parameter and the v..

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.176-181
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• 1992

In this paper, an adaptive generalized predictive control(GPC) algorithm which minimizes a N-stage cost function is proposed. The resulting controller is based on GPC algorithm and can be used in unknown plant parameters as the parameters of one step ahead predictor are estimated by recursive least squares method. The estimated parameters are extended to G,P, and F amtrix which contain the parameters of N step ahead predictors. And the minimization of cost function assuming no constraints on future controls results in the projected control increment vector. Hence this adaptive GPC algorithm can be used for either unknown system or varing system parameters, and it is also shown through simulations that the algorithm is robust to the variation of system parameters. This adaptive GPC scheme is shown to have the same stability properties as the deterministic GPC, and requires small amount of calculation compared to other adaptive algorithms which minimize N-stage cost function. Especially, in case that the maximum output horizon is 1, the proposed algorithm can be applicable to direct adaptive GPC.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.445-445
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• 2000

This paper proposes the MIMO indirect adaptive fuzzy controller to control the two-link manipulators. The input-output linearization technique, equivalent control input plus integral term, augmented error model and recursive least square adaptive law are used fer the controller. The linear type of fuzzifier-defuzzifier fuzzy logic system used for nonlinear function makes easy to farm the error model and able to follow the adaptive system approach. Such that control approach, the control system is not required joint speed and accerelation measurement and easy to implement and tune. The simulation results showed that the proposed controller has good control performance, stability, very small tracking error, decoupling, fast convergence, robust to parameter variation and load.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.502-502
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• 2000

An input constrained receding horizon predictive control algorithm for uncertain systems with nonzero set points is proposed. For constant nonzero set points, models with uncertainty can be converted into an augmented incremental system through the use of integrators and the problem is transformed into a zero-state regulation problem for the incremental system. But the original constraints on inputs are converted into constraints on the sum of control inputs at each time Instants, which have not been dealt in earlier constrained robust receding horizon control problems. Recursive state bounding technique and worst case minimizing strategy developed in earlier works are applied to the augmented incremental system to yield an of set error free controller. The resulting algorithm is formulated so that it can be solved using LP.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.192-192
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• 2000

In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.133-136
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• 1987

This paper presents a new algorithm of optimal measurement system by using band matrix characteristic respectively for state estimation. A performance index of measurement system is established to reflect relation among measurement sets, probability of measurement failure and cost of individual meter installation. Selection ranking in the candidates of measurement sets is composed to guarantee the observability for any any single meter outage. Performance index sensitivity is introduced and recursive formula which based on the matrix inversion lemma used for selection. The proposed algorithm is composed of successive addition algorithm, successive elimination algorithm and combinatorial algorithm. The band matrix characteristic could save in memory requirements and calculate the performance index faster than earlier.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.600-602
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• 1997

The kalman filter which has good estimating capabilities by means of the recursive computation from the previously known of obtained data is usually used for the system estimation in the case of not being directly measurable. The best estimating technique is still open issues on the PWR reactor control system to increase operating contingencies and to predict the safety margins for safer reactor operation. This paper addressed its estimating technique using kalman filter for the more flexible reactor control and showed the reasonable approach for discretization of the continuos-time system for reduction of computation errors.

• Journal of Biomedical Engineering Research
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• v.6 no.1
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• pp.5-12
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• 1985

In this paper Kalman filtering technique is applied to ultrasound signal to improve resolution capability, Ivhlch is in use of diagnostic imaging systems. The main advantage of Kalman filter algorithm for the analysis of reflected ultrasound signal is its recursive structure which can be easily adapted to tlme varing system. Because soft-tissues, such as liver, act as distributed acoustic low-pass filters which continually change the propagating pulse. tIne can put to practical use above advantage to find a suitable signal generallng model. In state-space description of the system, the 6th order system produces tl)e 1)esc spectral approximation to the source pulse As a result of spectrum analysis, 6th order estimator for two closely spaced ((p.5 mm) reflectors enhances resolution by 4dB-lOdB. By using this result, the possibility to detect even minute tumor is demonstrated.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2377-2379
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• 2000

Design of Fuzzy cotroller consists of intuition of human expert, and any other information about how to control system, they translated into a set of rules. If the rules adequately control the system, the design work is done well. If the rules are inadequate, the designer must modify the rules. Through this procedure, the system can be controlled. In this paper, we designed simply a fuzzy controller based on human knowledge, but it has errors showing some vibrations. So we updated the optimal parameters of fuzzy controller using Recursive least square algorithm.