Intelligent Control and System
Robot Control
Computer Vision
Doctor of Engineering in Electrical,National Central University, Taoyuan, Taiwan
Bachelor of Engineering in Electrical,National Central University, Taoyuan, Taiwan
Associate Professor of Mechanical and Electro-Mechanical Engineering, Tamkang University,New Taipei,Taiwan
Assistant Professor of Mechanical and Electro-Mechanical Engineering, Tamkang University,New Taipei,Taiwan
1.Development of Mobile Ping-Pong Robots-Subproject 4:Binocular Vision and Manipulator Control System(II) (MOST 106- 2221- E- 151- 059) Principal Investigator |
2.Development of Mobile Ping-Pong Robots-Main Project & Subproject 1:Motion Control of Ping-Pong Robots(II) (MOST 106- 2221- E- 032- 001) Co-Principal Investigator |
3.Development of Mobile Ping-Pong Robots-Subproject 4:Binocular Vision and Manipulator Control System (MOST 105- 2221- E- 032- 035) Principal Investigator |
4.Development of Mobile Ping-Pong Robots-Main Project & Subproject 1:Motion Control of Ping-Pong Robots(MOST 105- 2221- E- 032- 033) Co-Principal Investigator |
5.Development of Group Type Firefighting Assistant Robot-Subproject 3:Visual System of the Firefighting Assistant Robot (MOST 104- 2221- E- 032- 028) Principal Investigator |
6.Vision-Based Indoor Navigation System for Two-Wheeled Mobile Robot(MOST 103- 2221- E-032-040) Principal Investigator |
7.Visual Feedback Control for a Mobile Robot in Known Enviroments(NSC 102- 2221- E- 032- 071) Principal Investigator |
8.Improvement of Object Model for Moving Object Tracking Using a Moving Camera(NSC 102- 2221- E- 032- 045) Co-Principal Investigator |
9.Visual Slam Improvement and Implement(NSC 101- 2221- E- 032- 016)Principal Investigator |
10.Real-Time Moving Object Detection and Tracking from a Moving Camera Using an Online Object Model(NSC 101- 2221- E- 032- 017) Co-Principal Investigator |
11.T-S Fuzzy Model-Based Control Design for Differential Drive Two-Wheeled Mobile Robots(NSC 100- 2221- E- 032- 006) Principal Investigator |
12.Relaxed T-S Fuzzy Control Design by Descriptor System Approach(NSC 99- 2221- E- 032- 065) Principal Investigator |
13.Relaxed Stabilization Criteria for T-S Fuzzy Discrete Systems(NSC 98- 2218- E- 032- 006) Principal Investigator |
<Journal publication>
1. Chung-Hsun Sun*, Y.-J. Chen, Y.-T. Wang, and S.-K. Huang, “Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry,” Applied Mathematical Modelling, vol. 47, pp.765-776, 2017.
2. C.-H. Chiu*, Y.-F. Peng and Chung-Hsun Sun, “Intelligent decoupled controller for mobile inverted pendulum real-time implementation,” Journal of Intelligent & Fuzzy Systems, vol. 32, pp.3809-3820, 2017.
3. Y.-T. Wang*, Chung-Hsun Sun, T.-W. Chen, and C.-T. Chi, “Data association of aerial robot monocular simultaneous localization and mapping,” Sensors and Materials, vol. 28, pp. 1013-1021, 2016.
4. Chung-Hsun Sun*, “Relaxed stabilization conditions for the T-S fuzzy system with input constraints,” International Journal of Fuzzy Systems, vol. 18, pp. 168-176, 2016.
5. Y.-T. Wang*, Chung-Hsun Sun, and T.-W. Chen “Determination of map scale and initialization of landmarks for aerial robot monocular visual localization and mapping,” Sensors and Materials, vol. 28, pp. 667-674, 2016.
6. W.-J. Wang*, V.-P. Vu, W. Chang, Chung-Hsun Sun, and S.-J. Yeh, “A synthesis of observer-based controller for stabilizing uncertain T-S fuzzy systems,” Journal of Intelligent & Fuzzy Systems, vol. 30, pp. 3451-3463, 2016.
7. Y.-T. Wang*, Chung-Hsun Sun, and M.-J. Chiou, “Detection of moving objects in image plane for robot navigation using monocular vision,” EURASIP Journal on Advances in Signal Processing, pp.1-12, Nov. 2012.
8. Chung-Hsun Sun*, S.-W. Lin, and Y.-T. Wang, “Relaxed stabilization conditions for switching T-S fuzzy systems with practical constrains,” International Journal of Innovative Computing, Information and Control, vol.8, no.6, pp.4133-4145, 2012.
9. Chung-Hsun Sun*, Y.-T. Wang, and C.-C. Chang, “Switching T-S fuzzy model-based guaranteed cost control for two-wheeled mobile robots,” International Journal of Innovative Computing, Information and Control, vol.8, no.5(A), pp.3015-3028, 2012.
10. T. V. Dang, W.-J. Wang*, L. Luoh, and Chung-Hsun Sun, “Adaptive observer design for the uncertain Takagi-Sugeno fuzzy system with output disturbance,” IET Control Theory & Applications, vol. 6, no.10, pp.1351-1366, 2012.
11. T. V. Dang, W.-J. Wang*, C.-H. Huang, Chung-Hsun Sun, and L. Luoh, “Observer synthesis for the T-S fuzzy system with uncertainty and output disturbance,” Journal of Intelligent & Fuzzy Systems, vol. 22, no.4, pp.173-183, 2011.
12. Y.-T. Wang*, D.-Y. Hung, and Chung-Hsun Sun, “Improving data association in robot SLAM with monocular vision,” Journal of Information Science and Engineering, vol.27, pp.1823-1837, 2011.
13. S.-W. Lin, Chung-Hsun Sun*, and C.-H. Chiu, “Decentralized guaranteed cost control for large-scale T-S fuzzy systems,” International Journal on Fuzzy Systems, vol. 12, no.4, pp.300-310, 2010.
14. Chung-Hsun Sun, W.-J. Wang*, and W.-W. Lin, “Linear control and parallel distributed fuzzy control design for T-S fuzzy time-delay system,” International Journal on Fuzzy Systems, vol. 9, no.4, pp.229-235, 2007.
15. W.-J. Wang*, Y.-J. Chen, and Chung-Hsun Sun, “Relaxed stabilization criteria for discrete-time T-S fuzzy systems based on switching fuzzy model and piecewise Lyapunov function,” IEEE Trans. Systems, Man and Cybernetics B, vol. 37, no.3, pp.551-559, 2007.
16. Chung-Hsun Sun and W.-J. Wang*, “An improved stability criterion for T-S fuzzy discrete systems via vertex expression,” IEEE Trans. Systems, Man and Cybernetics B, vol. 36, no.3, pp.672-678, 2006.
17. W.-J. Wang*, and Chung-Hsun Sun, “Relaxed stability and stabilization conditions for a T-S fuzzy discrete system,” Fuzzy Sets and Systems, vol. 156, no. 2, pp. 208-225, 2005.
18. W.-J. Wang*, and Chung-Hsun Sun, “A Relaxed stability criterion for T-S fuzzy discrete system,” IEEE Trans. Systems, Man and Cybernetics B, vol. 34, no. 5, pp. 2155-2158, 2004.
<會議發表>
1. Chung-Hsun Sun*, H. Chen, and H.-C. Chen, “Constrained Fuzzy Stabilization for Wheeled Mobile Robot with Laser-Range-Finder Localization,” in Proc. 17th World Congress of the International Fuzzy Systems Association (IFSA), Otsu, Japan, 2017
2. Chung-Hsun Sun*, H. Chen, and S.-K. Huang, “Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing,” in Proc. 2016 4th IIAE International Conference on Intelligent Systems and Image Processing (ICISIP), Kyoto, Japan, 2016, pp. 347-354.
3. Chung-Hsun Sun* and Y.-J. Chen, “Vision-based fuzzy control for wheeled mobile robot,” in Proc. 2016 IEEE International Conference on System Science & Engineering (ICSSE), Nantou, Taiwan, 2016.
4. Y.-J. Chen* and Chung-Hsun Sun, “Polynomial-fuzzy-model-based control design for R/C hovercraft,” in Proc. 2016 IEEE International Conference on System Science & Engineering (ICSSE), Nantou, Taiwan, 2016.
5. Chung-Hsun Sun*, Y.-T. Wang, S.-K. Huang, and C.-W. Ye, “Fuzzy control design for wheeled mobile robot with laser-range-finder localization,” in Proc. 2016 International Conference on Computing and Precision Engineering (ICCPE), Kenting, Taiwan, 2016.
6. Chung-Hsun Sun*, H.-Y. Wu, and H. Chen, “Monocular visual localization and mapping for firefighting assistant robot,” in Proc. 2016 International Automatic Control Conference (CACS), Taichung, Taiwan, 2016.
7. Chung-Hsun Sun*, Y.-T. Wang, and S.-K. Huang, “Sequentially switched fuzzy control for wheeled mobile robots,” in Proc. 2015 International Conference on Computing and Precision Engineering (ICCPE), Sun Moon Lake, Nantou, Taiwan, 2015.
8. Chung-Hsun Sun* and Y.-J. Chen, “T-S fuzzy model-based switched control for unicycle-like vehicle,” in Proc. 2015 International Conference on Fuzzy Theory and Its Applications (iFUZZY), Yilan, Taiwan, 2015.
9. Chung-Hsun Sun*, Y.-T. Wang, and T.-H. Yao, “Real-time visual odometry for a mobile robot,” in Proc. 2015 International Multi-Conference on Engineering and Technology Innovation (IMETI), Kaohsiung, Taiwan, 2015.
10. Chung-Hsun Sun*, “Stabilization for the Takagi-Sugeno fuzzy system subject to actuator saturation,” in Proc. IEEE International Conference on System Science and, Engineering (ICSSE), Morioka, Japan, 2015, pp. 547-556.
11. Chung-Hsun Sun, W.-J. Wang*, “Stabilization for the T-S fuzzy system with the constrained control,” in Proc. 16th World Congress of the International Fuzzy Systems Association (IFSA), Gijon, Spain, 2015, pp. 1657-1662.
12. Chung-Hsun Sun*, and T.-H. Yao, “Switching fuzzy control for the differentially-driven wheeled mobile robot,” in Proc. 2014 SICE Annual Conference, Hokkaido University, Sapporo, Japan, 2014, pp. 37-41.
13. Chung-Hsun Sun*, “T-S fuzzy model-based switched control for two- wheeled mobile robot,” in Proc. Eighth International Conference on Innovative Computing, Information and Control (ICICIC), Kumamoto, Japan, 2013, pp. 753-758.
14. Chung-Hsun Sun, W.-J. Wang*, and C.-R. Wang, “Quad-tree decomposition based switching median filter for impulse noise removal,” in Proc. 14th International Symposium on Advanced Intelligent Systems (ISIS), Daejeon, Korea, 2013.
15. Chung-Hsun Sun*, and Y.-C. Yeh, “Relaxed T-S fuzzy control design by descriptor system approach,” in Proc. 2012 International Conference on Measurement, Instrumentation and Automation (IMCIA), Guangzhou, China, 2012, pp. 1180-1183.
16. Chung-Hsun Sun*, Y.-T. Wang, and C.-C. Chang, “Design of T-S fuzzy controller for two-wheeled mobile robot,” in Proc. 2011 International Conference on System Science and Engineering (ICSSE), Macau, China, 2011, pp. 223-228.
17. Chung-Hsun Sun*, W.-J. Wang, and Y.-J. Chen, “A descriptor system approach to fuzzy guaranteed cost control system design,” in Proc. 2009 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE’09), Jeju Island, Korea, 2009, pp.1288-1293.
18. H.-C. Chen, W.-J. Wang*, and Chung-Hsun Sun, “Fuzzy-tuned weights for kernel-based linear interpolation,” in Proc. 2008 SICE Annual Conference, Tokyo, Japan, 2008, pp. 63-66.
19. W. J. Wang* and Chung-Hsun Sun, “A weighting dependent Lyapunov function based relaxed stability criterion for T-S fuzzy discrete systems,” in Proc. 2005 International Conference on Networking, Sensing and Control (ICNSC), Arizona, USA, 2005, pp. 135-140.
20. W. J. Wang*, T. G Yen and Chung-Hsun Sun, “A Method of Self-generation Fuzzy Rule Base via Genetic Algorithm,” in Proc. The 5th Asian Control Conference (ACC), Melbourne, Australia, 2004, pp. 1608-1615.
21. W. J. Wang, and Chung-Hsun Sun, “A relaxed stability criterion for T-S fuzzy discrete systems,” in Proc. 2004 International Conference on Networking, Sensing and Control (ICNSC), Taipei, Taiwan, 2004, pp. 937-942.
22. W. J. Wang, T. G Yen and Chung-Hsun Sun, “GA-based fuzzy rules generation,” in Proc. First International Symposium on Computer and Communication Engineering, Daegu, Korea, 2003, pp. 123-129.
<技術報告及其他論文等>
1. 移動式桌球機器人研製-子計畫四:雙眼視覺與機器手臂控制系統(MOST 105- 2221- E- 032- 035)
2. 群組型消防輔助機器人系統研製-子計畫三:消防輔助機器人之視覺系統 (MOST 104- 2221- E- 032- 028)
3. 運用於二輪式機器人之室內視覺導航系統(MOST 103- 2221- E-032-040)
4. 於未知環境中之視覺回授機器人控制(NSC 102- 2221- E- 032- 071)
5. 視覺式即時建圖與定位之改進與硬體實現(NSC 101- 2221- E- 032- 016)
6. 基於T-S模糊模型之差速驅動二輪式機器人控制設計(NSC 100- 2221- E- 032- 006)
7. 基於描述系統方法之T-S模糊控制系統放寬設計(NSC 99- 2221- E- 032- 065)
8. 離散型T-S模糊系統的穩定設計條件放寬之研究(NSC 98- 2218- E- 032- 006)