Contents. List of Contributors... Part I Fuzzy Control

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1 Contents List of Contributors... xv Part I Fuzzy Control 1 Fuzzy Control of Large Civil Structures Subjected to Natural Hazards... 3 Yeesock Kim, Stefan Hurlebaus and Reza Langari 1.1 Introduction StructuralVibrationControl Fuzzy Control Approaches in Large Civil Structures SmartControlDevice:MRDamper Background Materials Takagi-SugenoFuzzyModel Sufficient Stability Condition of T-S Fuzzy Model ParallelDistributedCompensation LMI Formulation of Semiactive Nonlinear Fuzzy Control Systems Stability LMIs of T-S Fuzzy Control Systems PerformanceLMIs StateEstimator SemiactiveConvertingAlgorithm Examples Three-storyBuildingStructure Twenty-storyBuildingStructure ConcludingRemarks References Approaches to Robust H Controller Synthesis of Nonlinear Discrete-time-delay Systems via Takagi-Sugeno Fuzzy Models Jianbin Qiu, Gang Feng and Jie Yang 2.1 Introduction Model Description and Robust H Piecewise Control Problem ix

2 x Contents 2.3 Piecewise H Control of T-S Fuzzy Systems with Time-delay Delay-independent H ControllerDesign Delay-dependent H ControllerDesign SimulationExamples Conclusions References H Fuzzy Control for Systems with Repeated Scalar Nonlinearities. 51 Hongli Dong, Zidong Wang and Huijun Gao 3.1 Introduction ProblemFormulation ThePhysicalPlant Controller Closed-loopSystem H FuzzyControlPerformanceAnalysis H FuzzyControllerDesign AnIllustrativeExample Conclusions References Stable Adaptive Compensation with Fuzzy Cerebellar Model Articulation Controller for Overhead Cranes Wen Yu and Xiaoou Li 4.1 Introduction Preliminaries ControlofanOverheadCrane Position Regulation with FCMAC Compensation FCMAC Training and Stability Analysis ExperimentalComparisons Conclusions References Part II Neural Control 5 Estimation and Control of Nonlinear Discrete-time Systems Balaje T. Thumati and Jagannathan Sarangapani 5.1 Background NeuralNetworks Stability Concepts Estimation of an Unknown Nonlinear Discrete-time System Introduction NonlinearDynamicalSystem IdentificationScheme NeuralNetworkStructureDesign SimulationResults...103

3 Contents xi 5.3 Neural Network Control Design for Nonlinear Discrete-time Systems Introduction DynamicsofMIMOSystems NeuralNetworkControllerDesign SimulationResults Conclusions References Neural Networks Based Probability Density Function Control for Stochastic Systems Xubin Sun, Jin Liang Ding, Tianyou Chai and Hong Wang 6.1 StochasticDistributionControl NeuralNetworksinStochasticDistributionControl Control Input Design for Output PDF Shaping Introduction of the Grinding Process Control ModelPresentation GrindingCircuit GrindingProcessDynamicModel SystemModelingandControlofGrindingProcess ControlSystemStructure PDFModelingUsingBasisFunction SystemModelingandControl SystemSimulationandResults SimulationParameters SimulationResults Conclusions References Hybrid Differential Neural Network Identifier for Partially Uncertain Hybrid Systems Alejandro García, Isaac Chairez and Alexander Poznyak 7.1 Introduction HybridSystem Representation UncertainHybridSystems Hybrid DNN Identifier Practical Stability of Hybrid Systems Stability of IdentificationError Examples Spring-massSystem TwoInterconnectedTanksSystem Conclusions Appendix References...167

4 xii Contents 8 Real-time Motion Planning of Kinematically Redundant Manipulators Using Recurrent Neural Networks Jun Wang, Xiaolin Hu and Bo Zhang 8.1 Introduction ProblemFormulation CriticalPointProblem Joint Velocity Problem: An Inequality-constrained Formulation JointVelocityProblem:AnImprovedFormulation NeuralNetworkModels ModelSelection ModelComparisons SimulationResults ConcludingRemarks References Adaptive Neural Control of Uncertain Multi-variable Nonlinear Systems with Saturation and Dead-zone Mou Chen, Shuzhi Sam Ge and Bernard Voon Ee How 9.1 Introduction ProblemFormulationandPreliminaries ProblemFormulation NeuralNetworks Adaptive Neural Control and Stability Analysis SimulationResults Conclusions Appendix Appendix References Part III Fuzzy Neural Control 10 An Online Self-constructing Fuzzy Neural Network with Restrictive Growth Ning Wang, Meng Joo Er and Xianyao Meng 10.1 Introduction ArchitectureoftheOSFNNRG LearningAlgorithmoftheOSFNNRG CriteriaofRuleGeneration ParameterAdjustment CompleteOSFNNRGAlgorithm SimulationStudies Conclusions References...246

5 Contents xiii 11 Nonlinear System Control Using Functional-link-based Neuro-fuzzy Networks Chin-Teng Lin, Cheng-Hung Chen and Cheng-Jian Lin 11.1 Introduction StructureofFunctional-link-basedNeuro-fuzzyNetwork FunctionalLinkNeuralNetworks StructureoftheFLNFNModel LearningAlgorithmsoftheFLNFNModel StructureLearningPhase ParameterLearningPhase SimulationResults ConclusionandFutureWorks References An Adaptive Neuro-fuzzy Controller for Robot Navigation Anmin Zhu and Simon X. Yang 12.1 Introduction TheOverallStructureoftheNeuro-fuzzyController DesignoftheNeuro-fuzzyController FuzzificationandMembershipFunctionDesign InferenceMechanismandRuleBaseDesign Defuzzification The Physical Meanings of Variables and Parameters AlgorithmtoTunetheModelParameters Algorithm to Suppress Redundant Rules StateMemorizingStrategy SimulationStudies Off-lineTrainingPhasetoTuneModelParameters Off-line Training to Remove Redundant Rules EffectivenessoftheStateMemoryStrategy DynamicEnvironmentsandVelocityAnalysis ExperimentofStudies Summary References Part IV Intelligent Control 13 Flow Control of Real-time Multimedia Applications in Best-effort Networks Aninda Bhattacharya and Alexander G. Parlos 13.1 Introduction Modeling End-to-end Single Flow Dynamics in Best-effort Networks Definitions PacketLossSignal PacketDelaySignal...316

6 xiv Contents AccumulationSignal LinearStateSpaceModelingandEnd-to-endFlows Deriving the State Equations of a Conservative Single FlowSystem Deriving the Output/Measurement Equation of a ConservativeSingleFlowSystem Summary of the State Space Equations for a ConservativeFlowinaBest-effortNetwork Proposed Flow Control Strategies SimplePredictor FlowControllers DescriptionoftheNetworkSimulationScenarios Simulated Network Topology for Validating the PerformanceoftheFlowControlStrategies Simulated Network Topology for Studying the Scalability of the Flow Control Strategies Voice Quality Measurement Test: E-Model Validation of Proposed Flow Control Strategies Determining I e Curves for Different Modes of the Ideal Codec Calculation of the MOS to Determine QoS in the Simulations Performance of the Flow Control Schemes in the Network Topology Used for Validation Scalability of the Flow Control Strategies SummaryandConclusions References Online Synchronous Policy Iteration Method for Optimal Control Kyriakos G. Vamvoudakis and Frank L. Lewis 14.1 Introduction The Optimal Control Problem and the Policy Iteration Problem OptimalControlandtheHJBEquation Neural Network Approximation of the Value Function Online Generalized PI Algorithm with Synchronous Tuning of Actor and Critic Neural Networks Critic Neural Networks ActionNeuralNetworks Simulationresults LinearSystemExample NonlinearSystemExample Conclusions References Index...375

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