Intelligent Control Systems with an Introduction to System of Systems Engineering (Hardcover)

Introduction

Elements of a Classical Control System

How the Model of a Dynamic System Can Help to Control It

Control of Robot Manipulators

Stability

System of Systems Simulation

SoS in a Nutshell

An SoS Simulation Framework

SoS Simulation Framework Examples

Agent-in-the-Loop Simulation of an SoS

Conclusion

Acknowledgment

Observer Design and Kalman Filtering

State Space Methods for Model-Based Control

Observing and Filtering Based on Dynamic Models

Derivation of the Discrete Kalman Filter

Worked Out Project on the Inverted Pendulum

Particle Filters

Fuzzy Systems?Sets, Logic, and Control

Classical Sets

Classical Set Operations

Properties of Classical Set

Fuzzy Sets

Fuzzy Set Operations

Properties of Fuzzy Sets

Classical Relations versus Fuzzy Relations

Predicate Logic

Fuzzy Logic

Approximate Reasoning

Fuzzy Control

Conclusions

Neural Network-Based Control

NN-Based Identification of Dynamics of a Robot Manipulator

Structure of NNs

Generating Training Data for an NN

Dynamic Neurons

Attractors, Strange Attractors, and Chaotic Neurons

Cerebellar Networks and Exposition of Neural Organization to Adaptively Enact Behavior

Introduction to System of Systems

Definitions of SoS

Challenging Problems in SoS

Conclusions

Control of System of Systems

Hierarchical Control of SoS

Decentralized Control of SoS

Other Control Approaches

Conclusions

Reward-Based Behavior Adaptation

Markov Decision Process

Temporal Difference-Based Learning

Extension to Q Learning

Exploration versus Exploitation

Vector Q Learning

An Automated System to Induce and Innovate Advanced Skills in a Group of Networked Machine Operators

Visual Inspection and Acquisition of Novel Motor Skills

Experimental Setup

Dynamics of Successive Improvement of Individual Skills

Proposed Model of Internal Model Construction and Learning

Discussion and Conclusion

A System of Intelligent Robots-TrainedAnimals-Humans in a Humanitarian Demining Application

A Novel Legged Field Robot for Landmine Detection

Combining a Trained Animal with the Robot

Simulations on Multirobot Approaches to Landmine Detection

Robotic Swarms for Mine Detection System of Systems Approach

SoS Approach to Robotic Swarms

Designing System of Swarm Robots: GroundScouts

Mine Detection with Ant Colony-Based Swarm Intelligence

Conclusion

Acknowledgment

Index