by John Tak Kuen Koo. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1994. / Includes bibliographical references (leaves 217-[220]). / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Introduction --- p.1 / Chapter 1.2 --- "Robust, Adaptive and Fuzzy Control" --- p.2 / Chapter 1.3 --- Adaptive Fuzzy Control --- p.4 / Chapter 1.4 --- Object of Study --- p.10 / Chapter 1.5 --- Scope of the Thesis --- p.13 / Chapter 2 --- Background on Adaptive Control and Fuzzy Logic Control --- p.17 / Chapter 2.1 --- Adaptive control --- p.17 / Chapter 2.1.1 --- Model reference adaptive systems --- p.20 / Chapter 2.1.2 --- MIT Rule --- p.23 / Chapter 2.1.3 --- Model Reference Adaptive Control (MRAC) --- p.24 / Chapter 2.2 --- Fuzzy Logic Control --- p.33 / Chapter 2.2.1 --- Fuzzy sets and logic --- p.33 / Chapter 2.2.2 --- Fuzzy Relation --- p.40 / Chapter 2.2.3 --- Inference Mechanisms --- p.43 / Chapter 2.2.4 --- Defuzzification --- p.49 / Chapter 3 --- Explicit Form of a Class of Fuzzy Logic Controllers --- p.51 / Chapter 3.1 --- Introduction --- p.51 / Chapter 3.2 --- Construction of a class of fuzzy controller --- p.53 / Chapter 3.3 --- Explicit form of the fuzzy controller --- p.57 / Chapter 3.4 --- Design criteria on the fuzzy controller --- p.65 / Chapter 3.5 --- B-Spline fuzzy controller --- p.68 / Chapter 4 --- Model Reference Adaptive Fuzzy Control (MRAFC) --- p.73 / Chapter 4.1 --- Introduction --- p.73 / Chapter 4.2 --- "Fuzzy Controller, Plant and Reference Model" --- p.75 / Chapter 4.3 --- Derivation of the MRAFC adaptive laws --- p.79 / Chapter 4.4 --- "Extension to the Multi-Input, Multi-Output Case" --- p.84 / Chapter 4.5 --- Simulation --- p.90 / Chapter 5 --- MRAFC on a Class of Nonlinear Systems: Type I --- p.97 / Chapter 5.1 --- Introduction --- p.98 / Chapter 5.2 --- Choice of Controller --- p.99 / Chapter 5.3 --- Derivation of the MRAFC adaptive laws --- p.102 / Chapter 5.4 --- Example: Stabilization of a pendulum --- p.109 / Chapter 6 --- MRAFC on a Class of Nonlinear Systems: Type II --- p.112 / Chapter 6.1 --- Introduction --- p.113 / Chapter 6.2 --- Fuzzy System as Function Approximator --- p.114 / Chapter 6.3 --- Construction of MRAFC for the nonlinear systems --- p.118 / Chapter 6.4 --- Input-Output Linearization --- p.130 / Chapter 6.5 --- MRAFC with Input-Output Linearization --- p.132 / Chapter 6.6 --- Example --- p.136 / Chapter 7 --- Analysis of MRAFC System --- p.140 / Chapter 7.1 --- Averaging technique --- p.140 / Chapter 7.2 --- Parameter convergence --- p.143 / Chapter 7.3 --- Robustness --- p.152 / Chapter 7.4 --- Simulation --- p.157 / Chapter 8 --- Application of MRAFC scheme on Manipulator Control --- p.166 / Chapter 8.1 --- Introduction --- p.166 / Chapter 8.2 --- Robot Manipulator Control --- p.170 / Chapter 8.3 --- MRAFC on Robot Manipulator Control --- p.173 / Chapter 8.3.1 --- Part A: Nonlinear-function feedback fuzzy controller --- p.174 / Chapter 8.3.2 --- Part B: State-feedback fuzzy controller --- p.182 / Chapter 8.4 --- Simulation --- p.186 / Chapter 9 --- Conclusion --- p.199 / Chapter A --- Implementation of MRAFC Scheme with Practical Issues --- p.203 / Chapter A.1 --- Rule Generation by MRAFC scheme --- p.203 / Chapter A.2 --- Implementation Considerations --- p.211 / Chapter A.3 --- MRAFC System Design Procedure --- p.215 / Bibliography --- p.217
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_318259 |
| Date | January 1994 |
| Contributors | Koo, John Tak Kuen., Chinese University of Hong Kong Graduate School. Division of Information Engineering. |
| Publisher | Chinese University of Hong Kong |
| Source Sets | The Chinese University of Hong Kong |
| Language | English |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 217, [3] leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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