John B. Cheatham  and  Kevin N. Magee
 jbcjr@rice.edu        magee@rice.edu

An overview of topics in intelligent control with emphasis on modeling and control of robotic systems.

1. Review of Robotic Control Principles
   • Independent Joint Control
   • Conventional control of a robotic manipulator
   
   
2. Fuzzy Logic Control
   • Fuzzy Sets and Fuzzy Logic
     
   • Frequently Asked Questions (FAQ)
   • Fuzzification, Defuzzification
   • Knowledge base, Inference engine
   • Fuzzy control of a robotic manipulator
   
   
3. Artificial Neural Networks (ANNs) for Modeling and Control
   • Back-propagation
   • Perceptrons
   • ANNs for Inverse Kinematics and Control
   
   
4. Genetic Algorithms and Robotics
   • Genetic Algorithms (GAs)
     
   • Applications of GAs in robotics
   
   
5. Genetic Programming and Robotics
   • Genetic Programming
     
   • Applications of Genetic Programming
   
   
6. Hybrid Modeling and Control
   • Neurofuzzy Modeling and Control
   • Other Hybrid Control

GRADING POLICY: Homework 25%, Programming Assignments 25%, Project 25%, Examination 25%. 10% per day deduction for late work.

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