Implementation and Experiment of Neural Network Controllers for Intelligent Control System Education

Lee, Geun-Hyeong,Noh, Jin-Seok,Jung, Seul Korean Institute of Intelligent Systems 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.4

This paper presents the implementation of an educational kit for intelligent system control education. Neural network control algorithms are presented and control hardware is embedded to control the inverted pendulum system. The RBF network and the MLP network are implemented and embedded on the DSP 2812 chip and other necessary functions are embedded on an FPGA chip. Experimental studies are conducted to compare performances of two neural control methods. The intelligent control educational kit(ICEK) is implemented with the inverted pendulum system whose movements of the cart is limited by space. Experimental results show that the neural controllers can manage to control both the angle and the position of the inverted pendulum systems within a limited distance. Performances of the RCT and the FEL control method are compared as well.

An H_∞ Output Feedback Control for Uncertain Singularly Perturbed T-S Fuzzy Systems

류석환,오설동,Yoo, Seog-Hwan,Wu, Xue-Dong Korean Institute of Intelligent Systems 2009 한국지능시스템학회논문지 Vol.19 No.6

This paper deals with an $H_{\infty}$ output feedback controller design for uncertain singularly perturbed T-S fuzzy systems. Integral quadratic constraints are used to describe various kinds of uncertainties of the plant. It is shown that the $H_{\infty}$ norm of the uncertain singularly perturbed fuzzy system is less than $\gamma$ for a sufficiently small $\varepsilon$ > 0 if the $H_{\infty}$ norms of both the slow and fast subsystem are less than $\gamma$. Using this fact, we develop a linear matrix inequality based design method which is independent of the singular perturbation parameter $\varepsilon$. A numerical example is provided to demonstrate the efficacy of the proposed design method.

Benchmarking Evaluation of Web System Using Fuzzy Sets

Jeong, Gu-Beom,Kim, Doo-Ywan,Her, Chol-Hoi Korean Institute of Intelligent Systems 2004 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.4 No.3

For Web System composed of a variety of hardware, software and network system, there is a wide difference in price, function and capacity. In addition, it is important to select the most suitable system when web system is constructed as the claim of high-quality web service from user has increased. Data of bench-marking is usually employed when the system is selected. Evaluation with the result of bench-marking, however, is not easy at web situation composed of a variety of systems. In this paper, first integrated bench-marking of hardware, software and network system metric were determined, and the plan to effectively compare and evaluate the result of bench-marking by using fuzzy set were offered.

Development of Automatic Ship Berthing System Using Artificial Neural Network and Distance Measurement System

Nguyen, Van-Suong,Do, Van-Cuong,Im, Nam-Kyun Korean Institute of Intelligent Systems 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.1

In the studies on an berthing control of ship, an artificial neural network (ANN) model is commonly employed as the main controller to control the rudder and the propeller. The existing ANN controllers that use the parameters consisting of the ship position and the ship heading as inputs cannot be applied to control automatically the ship into berth in different ports. To deal with this problem, the parameters, such as relative bearing and distance from ship to berth calculated by radar can be used as inputs for the controller. However, the calculation of these factors is not accurate because some errors arise on using radar for berthing process. This leads to the lack of confidence in ship berthing system using the parameters determined by radar. In this research, the neural network based-automatic berthing system is developed for ship by using the parameters which are measured by distance measurement system. By this proposed system, the ship is brought automatically into berth in different ports without retraining the neural network. In addition, this system guarantees that the parameters used for inputs of the neural network is measured exactly and continually. To validate the proposed algorithm, numerical simulations are carried out to two imaginary ports and a real port, and result showed the good performance of the proposed system for automatic ship berthing.

Positioning and Driving Control of Fork-type Automatic Guided Vehicle With Laser Navigation

Kim, Jaeyong,Cho, Hyunhak,Kim, Sungshin Korean Institute of Intelligent Systems 2013 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.13 No.4

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

Design and Implementation of the EEIS Considering the Load of DB Server

Kim, Chang-Geun,Park, Byeong-Jin,Tack, Han-Ho Korean Institute of Intelligent Systems 2003 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.3 No.1

Current Internet system of the entrance exam information to the university that is depending on searching key to solve the overloaded problem in the network and DB server or other tools to support HTML edit, haven't satisfied user's wants by supplying uniformed searching system. So this thesis will establish EEIS(Entrance Examination Information System) to prevent database overload phenomena when many users request a great amount of data at the same time and improve the decrease of speed and overload problem in DB server. EEIS playa role of bridge between outside client and DB server by placing VVS(Virtual View Server) between web server and DB server. By that method this system give users several usefulness in convenience and variety by supplying realtime data searching function to user. EEIS also give inner system manager more efficiency and speed in control the management system by solving those problem. This system is design and implementation to satisfy user's desire and give them more convenience and bring up the confidence of university that adopt this system at the end.

Design, Control, and Implementation of Small Quad-Rotor System Under Practical Limitation of Cost Effectiveness

Jeong, Seungho,Jung, Seul Korean Institute of Intelligent Systems 2013 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.13 No.4

This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.

Radial Basis Function Network Based Predictive Control of Chaotic Nonlinear Systems

Choi, Yoon-Ho,Kim, Se-Min Korean Institute of Intelligent Systems 2003 한국지능시스템학회논문지 Vol.13 No.5

As a technical method for controlling chaotic dynamics, this paper presents a predictive control for chaotic systems based on radial basis function networks(RBFNs). To control the chaotic systems, we employ an on-line identification unit and a nonlinear feedback controller, where the RBFN identifier is based on a suitable NARMA real-time modeling method and the controller is predictive control scheme. In our design method, the identifier and controller are most conveniently implemented using a gradient-descent procedure that represents a generalization of the least mean square(LMS) algorithm. Also, we introduce a projection matrix to determine the control input, which decreases the control performance function very rapidly. And the effectiveness and feasibility of the proposed control method is demonstrated with application to the continuous-time and discrete-time chaotic nonlinear system.

RDB-based Automatic Knowledge Acquisition and Forward Inference Mechanism for Self-Evolving Expert Systems

Kim, Jin-Sung Korean Institute of Intelligent Systems 2003 한국지능시스템학회논문지 Vol.13 No.6

In this research, we propose a mechanism to develop an inference engine and expert systems based on relational database (RDB) and SQL (structured query language). Generally, former researchers had tried to develop an expert systems based on text-oriented knowledge base and backward/forward (chaining) inference engine. In these researches, however, the speed of inference was remained as a tackling point in the development of agile expert systems. Especially, the forward inference needs more times than backward inference. In addition, the size of knowledge base, complicate knowledge expression method, expansibility of knowledge base, and hierarchies among rules are the critical limitations to develop an expert system. To overcome the limitations in speed of inference and expansibility of knowledge base, we proposed a relational database-oriented knowledge base and forward inference engine. Therefore, our proposed mechanism could manipulate the huge size of knowledge base efficiently. and inference with the large scaled knowledge base in a short time. To this purpose, we designed and developed an SQL-based forward inference engine using relational database. In the implementation process, we also developed a prototype expert system and presented a real-world validation data set collected from medical diagnosis field.

Intelligent Control of Nonlinear dynamic system Using Immune Fuzzy Fusion

Kim, Dong-Hwa Korean Institute of Intelligent Systems 2004 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.4 No.1

This paper proposes non-linear control method using immune algorithm based fuzzy logic. Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because gain of the PID controller has to be manually tuned by trial and error. An inverted pendulum control problem is selected to illustrate the efficiency of the proposed method and defines relationship state variables $\chi$, $\chi$, $\theta$, $\theta$ using immune fuzzy.