• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1086-1088
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• 1993

A robust fuzzy self-organizing controller(SOC) is proposed for an environmental temperature chamber. Although fuzzy SOC can improve the performance of nonlinear system, the controller is ineffective to solve the performance degradation owing to the time varying factors. In this paper, we construct the fuzzy SOC with a predictive scheme based on the 386PC. The usefulness of the proposed scheme is shown through the comparison of the PI controller and the fuzzy controller.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.191-196
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• 1998

A new Fuzzy Logic Controller(FLC) called a Gradient-Descent Based Self-Organizing Controller is presented. The Self-Organizing Controller(SOC) has two inputs such as error and change of error, and updates control rules with monitoring a performance measure. There are many works in the SOC which concentrate on the self-organizing ability in control rule base, but have a few research on the performance measure which is akin to sliding mode control. With this procedure, we can get a robust performance measure on the SOC. To verify the perfomance of proposed controller, we have performed for the cart-pole system which is one of the well-known benchmark problem in the control literature.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.63-66
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• 1997

The rule bases self organizing controller(SOC) has one of its main advantages in the fact that there is no need to have a mathematical description of the system to be controlled. In this controller, the rules are linguistics statements expressed mathematically through the concepts of fuzzy sets and correspond to the actions a human operator would take when controlling a given process. With this controller, we have performed to sight stabilization system, and we realize that it needs a scale factor tuning. The self tuning controller(STC) uses an instantaneous system fuzzy performance which can give an inspection to the scale factor. Therefore, the STC can compensate the scale factor when it is not adequately tuned. With this trial, we shows that STC can give a good transient characteristics in the nonlinearity which imposed basically in the conventional servo system.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.12 s.189
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• pp.46-55
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• 2006

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.21-34
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• 1998

[n this paper, we propose a hierarchical self-organizing fuzzy logic controller to improve the performance of the FARMA(Fuzzy auto-regressive moving average) SOC(Self-organizing fuzzy logic controller) when the system parameters change. The proposed controller contains the FARMA SC)C in the lower level and has a coordinator in the higher level, which evaluates convergence. and when it senses the degradation of system performance it compensates the control input by a look-up table. The proposed controller shows good perforniance over the FARMA SOC when the system parameters change. We executed some computer simulations on the regulation problem of an inlrerted pendulum system and compared the results with those of the FARMA SOC. As a result, it ha:; been shown that the proposed controller outperformed the FARMA SOC when the changes of the system parameters occurred.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.342-344
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• 1994

This paper presents a design technique of SOFLC(Self -Organizing Fuzzy Logic Controller). It is composed of three parts: FLC(Fuzzy Logic Controller) part, RPO (Repeat Parameter Organizing) part, and RTPO (Real Time Parameter Organizing) part. The FLC part is controlled by initial parameters ($a_1$, $a_2$, $a_3$, $b_1$, $b_2$, $b_3$) the RPO part improves parameters by evaluating the performance of control responses controlled by FLC, and the RTPO organizes the parameters for real time in order to have the same value of the control response($y_k$) and the target response($y_k\;^*$).

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.984-989
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• 1991

In this paper, a novel type of a visual servoing method is proposed for eye-in-hand robots by employing a self-organizing fuzzy controller. For this is there defined a new Jacobian riot to be the function of a relative position of the object but to be a function of the only image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show the validities, the proposed method is applied to a 2-dimensional visual servoing task.

• The Transactions of the Korean Institute of Power Electronics
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• v.2 no.4
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• pp.45-55
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• 1997

According to the increase of factory-automation in the field of production, the importance of autonomous guided vehicle's(AGV) role is also increased. The study about an active and effective controller which can flexibly prepare for the changeable circumstance is in progressed. For this study, the research about action base system to evolve by itself is also being actively considered. In this paper, we composed an active and effective AGV fuzzy controller to be able to do self-organization. For composing it, we tuned suboptimally membership function using genetic algorithm(GA) and improved the control efficiency by the self-correction and generating the control rules. Self-organizing controlled(S0C) fuzzy controller proposed in the paper is capable of self-organizing by using the characteristics of fuzzy controller and genetic algorithm. It intuitionally controls AGV and easily adapts to the circumstance.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.11a
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• pp.85-90
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• 1996

In this paper, the self-organizing fuzzy logic controller is developed for water level control of steam generator. In comparison with conventional fuzzy logic controllers, this controller performs control task with no control rules at initial and creates control rules as control behavior goes on, and also modifies its control structure when uncertain disturbance is suspected. Selected parameters in the fuzzy logic controller are updated on-line by the gradient descent loaming algorithm based on the performance cost function. This control algorithm is applied to water level control of steam generator model developed by Lee, et al. The computer simulation results confirm good performance of this control algorithm in all power ranges. This control algorithm can be expected to be used for automatic control of feedwater control system in the nuclear power plant with digital instrumentation and control systems.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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• pp.34-40
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• 1994

The design and implementation of a fuzzy self-organizing controller for an environmental temperature chamber is discussed. The chamber is a non-linear, time-variant system with delay-time and dead-time. And the parameter tuning is required in PI control when the performance degraded. However the proposed fuzzy-SOC monitors the performance of the process. modifies the data base, and performs the delay-time compensation based on the idealized process model. A series of experiments was performed for the conventional PI and the fuzzy-SOC. These experimental results show the usefulness of the fuzzy-SOC.