Intelligent Control: Aspects of Fuzzy Logic and Neural Nets

Front Cover
With increasing demands for high precision autonomous control over wide operating envelopes, conventional control engineering approaches are unable to adequately deal with system complexity, nonlinearities, spatial and temporal parameter variations, and with uncertainty. Intelligent Control or self-organising/learning control is a new emerging discipline that is designed to deal with problems. Rather than being model based, it is experiential based. Intelligent Control is the amalgam of the disciplines of Artificial Intelligence, Systems Theory and Operations Research. It uses most recent experiences or evidence to improve its performance through a variety of learning schemas, that for practical implementation must demonstrate rapid learning convergence, be temporally stable, be robust to parameter changes and internal and external disturbances. It is shown in this book that a wide class of fuzzy logic and neural net based learning algorithms satisfy these conditions. It is demonstrated that this class of intelligent controllers is based upon a fixed nonlinear mapping of the input (sensor) vector, followed by an output layer linear mapping with coefficients that are updated by various first order learning laws. Under these conditions self-organising fuzzy logic controllers and neural net controllers have common learning attributes.A theme example of the navigation and control of an autonomous guided vehicle is included throughout, together with a series of bench examples to demonstrate this new theory and its applicability.

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Contents

An Introduction to Intelligent Control
1
Introductory Fuzzy Logic
37
Fuzzy Logic Controller Structure and Design
90
The Static Fuzzy Logic Controller
135
SelfOrganising Fuzzy Logic Control
170
Indirect SelfOrganising Fuzzy Logic
215
Adaptive controller implementation issues
238
Case Studies of Indirect Adaptive Fuzzy
254
Neural Network Approximation Capability
282
Polynomial and functional single layer perceptrons
299
The BSpline Neural Network and Fuzzy
314
Mathematical Prerequisites
358
Subject Index
373
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