Intelligent systems and control: principles and applications
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New Delhi [u.a.]
Oxford Univ. Press
2010
|
| Ausgabe: | 1. publ., 2. impr. |
| Schriftenreihe: | Oxford higher education
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Includes bibliographical references and index |
| Beschreibung: | XIII, 373 S. : graf. Darst. 1 CD-ROM (12 cm) |
| ISBN: | 9780198063155 0198063156 |
Internformat
MARC
| LEADER | 00000nam a22000002c 4500 | ||
|---|---|---|---|
| 001 | BV036960006 | ||
| 003 | DE-604 | ||
| 005 | 20110316 | ||
| 007 | t | ||
| 008 | 110117s2010 |||| |||| 00||| eng d | ||
| 020 | |a 9780198063155 |c pbk |9 978-0-19-806315-5 | ||
| 020 | |a 0198063156 |c pbk |9 0-19-806315-6 | ||
| 035 | |a (OCoLC)698485890 | ||
| 035 | |a (DE-599)BSZ33428970X | ||
| 040 | |a DE-604 |b ger | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-473 | ||
| 084 | |a ST 302 |0 (DE-625)143652: |2 rvk | ||
| 100 | 1 | |a Behera, Laxmidhar |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Intelligent systems and control |b principles and applications |c Laxmidhar Behera ; Indrani Kar |
| 250 | |a 1. publ., 2. impr. | ||
| 264 | 1 | |a New Delhi [u.a.] |b Oxford Univ. Press |c 2010 | |
| 300 | |a XIII, 373 S. : |b graf. Darst. |e 1 CD-ROM (12 cm) | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Oxford higher education | |
| 500 | |a Includes bibliographical references and index | ||
| 650 | 0 | 7 | |a Lernendes System |0 (DE-588)4120666-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Kontrolle |0 (DE-588)4032312-2 |2 gnd |9 rswk-swf |
| 653 | |a Intelligent control systems | ||
| 653 | |a Expert systems (Computer science) | ||
| 689 | 0 | 0 | |a Lernendes System |0 (DE-588)4120666-6 |D s |
| 689 | 0 | 1 | |a Kontrolle |0 (DE-588)4032312-2 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Kar, Indrani |e Verfasser |4 aut | |
| 856 | 4 | 2 | |m Digitalisierung UB Bamberg |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020874906&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-020874906 | ||
Datensatz im Suchindex
| _version_ | 1804143684818567168 |
|---|---|
| adam_text | Contents
1.
Non-linear Control: Primer
1
1.1
Norms of Signals, Vectors, and Matrices
2
1.2
Positive Definite Functions
3
1.3
Positive Definite Matrices
4
1.4
Continuous Time State-Space Model
4
1.4.1
LTI State-Space Model
5
1.5
Non-linear State-Space Model
6
1.5.1
Equilibrium Point and Linearization using
First-order Taylor Series
7
1.5.2
Linearization Technique for Operating
Points Other Than the Origin
9
1.6
Lyapunov Stability Theory
11
1.6.1
Lyapunov Stability of Time Invariant System
12
1.6.2
LaSalle
s Invariance
Theorem
13
1.6.3
Chetaev s Instability Theorem
14
1.6.4
Lyapunov Stability of Time Varying System
14
1.6.5
Lyapunov
s
Indirect Method
75
1.6.6
Lyapunov Stability for Linear Systems IS
1.7
Discrete Time Systems
20
1.7.1
Discrete Time LTI State-Space Model
21
1.7.2
Discrete Time Non-linear State-Space Model
21
1.7.3
ARMAX and NARMAX Models
21
1.7.4
Lyapunov Stability for Discrete Time Systems
22
1.8
Modelling of Different Non-linear Systems
23
1.8.1
Inertia! Wheel Pendulum
23
viii Contents
1.8.2
Two Link Manipulator
26
1.8.3
An Inverted Pendulum Mounted on a Cart
29
1
.8.4
Induction Motor
32
1
.9
Non-linear Control Strategies
34
1.9.1
Feedback Linearization
34
1.9.2
Back-stepping Design
35
1.9.3
State Feedback Linearizable Systems
38
2.
Neural Networks
45
2.
1 Feed-forward Networks
45
2.2
Multi-layered Neural Networks
46
2.2.1
Principle of Gradient Descent
47
2.2.2
Derivation of Back Propagation Algorithm
48
2.2.3
Generalized Delta Rule
57
2.2.4
Convergence oftheBP Learning Algorithm
54
2.3
Radial Basis Function Networks
55
2.3.1
Radial Basis Functions
56
2.3.2
Learning in RBFN
57
2.4
Adaptive Learning Rate
63
2.4.1
Lyapunov Function Based Adaptive
Learning Rate
64
2.5
Feedback Networks
66
2.5.1
Response of Recurrent Networks
68
2.5.2
Learning Algorithms
69
2.5.3
Back Propagation Through Time
69
2.5.4
Real Time Recurrent Learning
73
2.6
Kohonen Self-organizing Map
77
2.7
System Identification Using Neural Networks
85
2.8
SOM
Based Identification
93
3.
Fuzzy Logic
103
3.1
Classical Sets
103
Contents ix
3.1.1
Operations on Classical Sets
104
3.2
Fuzzy Sets
106
3.2.1
Concept of a Fuzzy Number
106
3.2.2
Operations on Fuzzy Sets
108
3.2.3
Other Fuzzy Operations
110
3.2.4
Properties of Fuzzy Sets
110
3.2.5
Some Typical Membership Functions
7/0
3.2.6
Fuzzy Membership versus Probability
113
3.2.7
Extension Principle of Fuzzy Sets
774
3.2.8
Crisp Relation
775
3.2.9
Fuzzy Relations
777
3.2.10
Projection of Fuzzy Relations
777
3.2.11
Cylindrical Extension of Fuzzy Relations
7 7
S
3.2.12
Relation Inference
779
3.3
Fuzzy Rule Base and Approximate Reasoning
722
3.3.1
Fuzzy Linguistic Variables
722
3.3.2
Linguistic Modifier
722
3.3.3
Rule-base Systems
725
3.3.4
Fuzzy Rule Base
123
3.3.5
Fuzzy Implication Relations
123
3.3.6
Fuzzy Compositional Rules
124
3.3.7
Inference Mechanism Compared
724
3.3.8
Approximate Reasoning
725
3.4
Fuzzy Logic Control
727
3.4.1
Mamdani Model
128
3.4.2
Takagi-Sugeno Fuzzy Model
757
3.5
System Identification Using
Т
-S
Fuzzy Models
754
3.5.1
The
Т
-S
Model from Input-Output Data
754
3.5.2
The
Т
-S
Fuzzy Model Using Linearization
756
4.
Indirect Adaptive Control Using Neural Networks
145
4.1
Continuous Time
Affine
Systems
148
χ
Contents
4.1.1
Model Identification
148
АЛ.
2
Controller Design
149
4.2
Discrete Time
Affine
Systems
152
4.2.1
Model Identification
152
4.2.2
Controller Design
753
4.3
Discrete Time Non-affine System
755
4.3.1
Model Identification
755
4.3.2
Controller Design
:
Traditional
NN
Approach
757
4.3.3
Controller Design: Network Inversion
759
Appendix
170
5.
Direct Adaptive Control Using Neural Networks
175
5.1
Direct Adaptive Control
775
5.2
Single Input Single Output
Affine
Systems
778
5.2.1
f(x) is Unknown But g(x) is Known
779
5.2.2
f(x) andg(x) Both are Unknown
182
5.3
Multi-input Multi-output Systems
188
5.4
Single Input Single Output Discrete Time
Affine
Systems
792
5.4.1
f(x) is Unknown Butg(x) is Known
792
5.4.2 ƒ ix)
and gix
)
Both Are Unknown
196
5.5
B ack-
stepping Control
204
5.5.1
System Description
204
5.5.2
Traditional Back-stepping Design
206
5.5.3
Robust Back-stepping Controller Design
Using RBFN
206
5.5.4
Back-stepping Control for a Robot Manipulator
272
6.
Approximate Dynamic Programming
219
6.1
Linear Quadratic Regulator
279
6.2
The HJB Formulation
220
6.3
HJB for
Affine
Systems
227
6.4
HDP and DHP
223
Contents xi
6.5 Single Network
Adaptive Critic
226
6.6
Continuous Time
Adaptive Critic
230
6.7
Adaptive Critic
Using the
T-S
Fuzzy Model
235
6.7.1
Continuous Time Adaptive Critic
236
6.7.2
Discrete Time Adaptive Critic
241
7.
Fuzzy Logic Control
247
7.1
Construction of an FLC
24 7
7.2
Fuzzy PD Controller
248
7.2.1
The Rule Base
250
7.2.2
Membership Function
251
7.2.3
Fuzzy Parameter Optimization
251
7.2.4
Rule Generation Using Optimization Technique
256
7.3
Fuzzy PI Controller
256
7.3.1
The Rule Base for the Fuzzy PI Controller
258
7 .3.2
Membership Function
259
7.3.3
Parameter Optimization and Rule Generation
Using UMDA
260
1
A Fuzzy PI Controller for a Series DC Motor
261
7.4.1
Parameter Optimization and Rule Generation
262
7.5
FLC Using Lyapunov Synthesis
263
7.5.1
Rotational-Translational Proof Mass Actuator
264
7.6
Horizontal Planar Two Link Robot Manipulator
271
7.6.1
Arm Posture
271
7.6.2
Elbow Control
271
7.6.3
Controller Design
272
Appendix
276
8.
Takagi-Sugeno Fuzzy Model Based Control
279
8.1
Т
-S
Fuzzy Model
279
8.2
Linear Matrix Inequality Technique
280
xii Contents
8.2.1
Common Lyapunov Matrix Criterion for Stability of
the
Т
-S
Model
280
8.2.2
Parallel Distributed Fuzzy Compensator
280
8.3
Fixed Gain State Feedback Controller Design Technique
284
8.3.1
Fixed Gain State Feedback Controller
286
8.4
Variable Gain Controller Design Using Single Linear Nominal
Plant
288
8.4.1
The Control Problem
288
8.4.2
Variable Gain Controller I
289
8.5
Variable Gain Controller Design Using Each Linear
Subsystem as Nominal Plant
291
8.5.1
The Control Problem
293
8.5.2
Variable Gain Controller II
294
8.6
Controller Design Using Discrete
Т
-S
Fuzzy System
305
8.6.1
Linear State Feedback Controller for Discrete
Т
-S
Fuzzy System
306
Appendix
312
9.
Intelligent Control of a Pendulum on a Cart
317
9.1
Т
-S
Fuzzy Model Representation
317
9.2
Control Using the
Т
-S
Fuzzy Model
317
9.3
Network Inversion Based Control
318
9.3.1
Continuous-time Iterative Update
318
9.3.2
Discrete-time Update
320
9.4
Т
-S
Fuzzy Controller
321
9.4.1
Continuous Time Weight Update Law
322
ЪА2
Discrete Time Weight Update Law
323
9.5
Cart-Pole System: Simulation and Experiment
324
9.5.1
Т
-S
Fuzzy Model of the Cart-Pole
325
9.5.2
Control Systems Design
326
9.5.3
Experiment on a Cart-Pole System
328
Contents xiii
10. Visual Motor
Control of a
Redundant Manipulator 335
10.1 System Model 335
ХОЛЛ
Experimental Set-up
335
10.1.2
The Manipulator Model
336
10.1.3
The Camera Model
337
10.2
Visual Motor Control Using Neural Networks
338
10.2.1
Visual Motor Control with KSOM
338
10.2.2
Simulation and Experimental Results
341
10.2.3
Training
342
10.2.4
Testing
343
10.2.5
Real-time Experiment
345
10.3
Visual Motor Control Using a Fuzzy Network
348
10.3.1
Fuzzy
С
-Mean Clustering
350
10.3.2
Multi-step Incremental Learning
351
10.3.3
Simulation and Experimental Results
353
10.3.4
VMC Using Incremental Learning
354
Appendix List of
С
Programs on CD
357
References
359
|
| any_adam_object | 1 |
| author | Behera, Laxmidhar Kar, Indrani |
| author_facet | Behera, Laxmidhar Kar, Indrani |
| author_role | aut aut |
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| id | DE-604.BV036960006 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-09T22:51:35Z |
| institution | BVB |
| isbn | 9780198063155 0198063156 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020874906 |
| oclc_num | 698485890 |
| open_access_boolean | |
| owner | DE-473 DE-BY-UBG |
| owner_facet | DE-473 DE-BY-UBG |
| physical | XIII, 373 S. : graf. Darst. 1 CD-ROM (12 cm) |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Oxford Univ. Press |
| record_format | marc |
| series2 | Oxford higher education |
| spelling | Behera, Laxmidhar Verfasser aut Intelligent systems and control principles and applications Laxmidhar Behera ; Indrani Kar 1. publ., 2. impr. New Delhi [u.a.] Oxford Univ. Press 2010 XIII, 373 S. : graf. Darst. 1 CD-ROM (12 cm) txt rdacontent n rdamedia nc rdacarrier Oxford higher education Includes bibliographical references and index Lernendes System (DE-588)4120666-6 gnd rswk-swf Kontrolle (DE-588)4032312-2 gnd rswk-swf Intelligent control systems Expert systems (Computer science) Lernendes System (DE-588)4120666-6 s Kontrolle (DE-588)4032312-2 s DE-604 Kar, Indrani Verfasser aut Digitalisierung UB Bamberg application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020874906&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Behera, Laxmidhar Kar, Indrani Intelligent systems and control principles and applications Lernendes System (DE-588)4120666-6 gnd Kontrolle (DE-588)4032312-2 gnd |
| subject_GND | (DE-588)4120666-6 (DE-588)4032312-2 |
| title | Intelligent systems and control principles and applications |
| title_auth | Intelligent systems and control principles and applications |
| title_exact_search | Intelligent systems and control principles and applications |
| title_full | Intelligent systems and control principles and applications Laxmidhar Behera ; Indrani Kar |
| title_fullStr | Intelligent systems and control principles and applications Laxmidhar Behera ; Indrani Kar |
| title_full_unstemmed | Intelligent systems and control principles and applications Laxmidhar Behera ; Indrani Kar |
| title_short | Intelligent systems and control |
| title_sort | intelligent systems and control principles and applications |
| title_sub | principles and applications |
| topic | Lernendes System (DE-588)4120666-6 gnd Kontrolle (DE-588)4032312-2 gnd |
| topic_facet | Lernendes System Kontrolle |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020874906&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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