Course Book/Notes: This course is taught out of the book: K. Passino, Biomimicry for Optimization, Control, and Automation, the web site of which you can go to by clicking here.
Relevant Texts (not needed for this course but both are available for a free download by clicking here):
Kevin M. Passino and Stephen Yurkovich, Fuzzy Control, Addison Wesley Longman, Menlo Park, CA, 1998.
Antsaklis P.J., Passino K.M., eds., An Introduction to Intelligent and Autonomous Control, Kluwer Academic Publishers, Norwell, MA, 1993.
Course Objectives:
The course will involve (i) gaining an understanding of the functional operation of a variety of intelligent control techniques and their bio-foundations, (ii) the study of control-theoretic foundations (e.g., robustness), (iii) learning analytical approaches to study properties (especially stability analysis), and (iv) use of the computer for simulation and evaluation. The objective will be to gain a "hands-on" working knowledge of several of the main techniques of intelligent control and an introduction to some promising research directions.
Outline: Topics to be covered include:
Week 1: Introduction (control foundations, biomimicry), Instinctual neural control (multilayer perceptron, radial basis function neural network, design example, stability analysis)
Week 2: Fuzzy and expert control (standard, Takagi-Sugeno, mathematical chararacterizations, design example)
Week 3: Planning systems (autonomous vehicle guidance for obstacle avoidance, model predictive control), Attentional systems (attentional strategies for predators/prey)
Week 4: Learning and function approximation (function approximation problem), adaptive control introduction
Week 5: Learning/adaptation (training neural networks and fuzzy systems with least squares and gradient methods), stable fuzzy/neural adaptive control