1장 적응 시스템
1.1 소개 ··································································································· 12
1.2 신호의 특성 ························································································ 15
1.3 그래디언트(기울기) 알고리즘 ······························································ 21
1.4 이산 시스템 ························································································ 26
1.5 z 변환 ································································································ 30
1.6 Wiener filter ······················································································· 36
1.7 LMS 알고리즘 ····················································································· 42
1.8 RLS 알고리즘 ······················································································ 48
1.9 Kalman 필터 ······················································································ 63
1.10 시스템 인식 모델 구조 ······································································· 72
1.11 인식 모델 ·························································································· 75
2장 적응제어
2.1 소개 ··································································································· 82
2.2 모델을 기반으로 하는 적응제어 방식 ··················································· 84
2.3 Self-tuning adaptive control ································································ 87
2.4 시스템 변수의 평가 ············································································· 88
2.5 쌍적분 시스템의 MRAC 제어의 예 ······················································· 89
2.6 로봇의 적응제어 예 ············································································· 93
2.7 필터동역학을 이용한 적응제어 ··························································· 99
3장 신경회로망
3.1 단층 퍼셉트론 넷의 소개 ·································································· 106
3.2 비선형함수 ······················································································· 108
3.3 다층 퍼셉트론 넷 ·············································································· 110
3.4. 역전파 알고리즘 ·············································································· 116
3.5. 방사형 함수 기반 신경회로망 ··························································· 141
3.6. Recurrent Network(Feedback network) ··········································· 149
3.7 XOR 패턴인식 응용 ··········································································· 157
3.8 MATLAB 명령어를 이용한 신경회로망 ··············································· 163
3.9 패턴인식 예 ······················································································ 174
3.10 제스처 패턴인식의 이륜 로봇에의 응용 ············································ 177
4장 신경회로망 제어
4.1 소개 ································································································· 184
4.2 신경회로망을 이용한 시스템 인식 ······················································ 186
4.3 신경회로망의 역모델 직접 제어 ························································· 188
4.4 시스템 자코비안 ··············································································· 193
4.5 Feedback error learning(FEL) 방식 ················································· 195
4.6 Reference Compensation Technique(RCT) 방식 ································ 198
4.7 PID 이득값 튜닝 방식 ········································································ 204
4.8 역진자-수레 시스템 제어 예 ······························································· 214
5장 로봇의 신경망 제어
5.1. 소개 ································································································ 226
5.2. 로봇의 동적 모델기반 FEL 제어 ························································ 229
5.3. 로봇의 무모델기반 FEL 제어 ···························································· 234
5.4. 로봇의 모델기반 RCT 제어 ······························································· 240
5.5. 2축 로봇의 신경망 제어 응용 ···························································· 245
5.6. 뉴로 슬라이딩 모드 제어 ·································································· 274
5.7. 뉴로 시간지연 제어 ·········································································· 295
6장 퍼지논리
6.1 소개 ································································································· 316
6.2 퍼지 셋의 정의 ·················································································· 318
6.3 소속 함수 ·························································································· 324
6.4 소속 함수의 종류 및 특성 ·································································· 325
6.5 소속 함수 만들기 ·············································································· 327
6.6 퍼지셋 이론 ······················································································ 335
6.7 퍼지관계 ··························································································· 338
6.8 퍼지추론(fuzzy implication) ······························································ 341
6.9 퍼지 합성 ·························································································· 343
6.10 퍼지 제어 논리 ················································································ 347
6.11 Fuzzy Tool Box 사용하기 ······························································· 352
7 장 퍼지 제어 시스템
7.1 소개 ································································································· 358
7.2 입력의 퍼지화 ··················································································· 360
7.3 퍼지 제어 법칙(fuzzy rule) ································································ 365
7.4 퍼지 제어 법칙 만들기 ······································································ 374
7.5 퍼지 제어기 추론 ·············································································· 381
7.6 퍼지 집합 합성 ·················································································· 389
7.7 비퍼지화 ··························································································· 391
7.8 퍼지 제어 예 ····················································································· 398
7.9 역진자 제어 예 ·················································································· 400
8장 뉴로-퍼지 제어시스템
8.1 소개 ································································································· 408
8.2 뉴로-퍼지 소속 함수 ·········································································· 410
8.3 뉴로-퍼지 제어기 구조 ······································································ 412
8.4 TSK 뉴로-퍼지 제어기 ······································································ 419
8.5 퍼지 제어의 신경망 보상 방식 ··························································· 431
8.6 MATLAB명령어로 뉴로-퍼지 구현 ······················································ 435
8.7 역진자 시스템 제어예 ········································································ 440
8.8 로봇팔 제어예 ··················································································· 445
찾아보기 ······························································································ 449