Intelligent Control Systems with an Introduction to System of Systems Engineering  book cover
1st Edition

Intelligent Control Systems with an Introduction to System of Systems Engineering

ISBN 9781420079241
Published November 19, 2009 by CRC Press
441 Pages 318 B/W Illustrations

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Book Description

From aeronautics and manufacturing to healthcare and disaster management, systems engineering (SE) now focuses on designing applications that ensure performance optimization, robustness, and reliability while combining an emerging group of heterogeneous systems to realize a common goal.
Use SoS to Revolutionize Management of Large Organizations, Factories, and Systems
Intelligent Control Systems with an Introduction to System of Systems Engineering integrates the fundamentals of artificial intelligence and systems control in a framework applicable to both simple dynamic systems and large-scale system of systems (SoS). For decades, NASA has used SoS methods, and major manufacturers—including Boeing, Lockheed-Martin, Northrop-Grumman, Raytheon, BAE Systems—now make large-scale systems integration and SoS a key part of their business strategies, dedicating entire business units to this remarkably efficient approach.
Simulate Novel Robotic Systems and Applications
Transcending theory, this book offers a complete and practical review of SoS and some of its fascinating applications, including:

  • Manipulation of robots through neural-based network control
  • Use of robotic swarms, based on ant colonies, to detect mines
  • Other novel systems in which intelligent robots, trained animals, and humans cooperate to achieve humanitarian objectives

Training engineers to integrate traditional systems control theory with soft computing techniques further nourishes emerging SoS technology. With this in mind, the authors address the fundamental precepts at the core of SoS, which uses human heuristics to model complex systems, providing a scientific rationale for integrating independent, complex systems into a single coordinated, stabilized, and optimized one. They provide readers with MATLAB® code, which can be downloaded from the publisher's website to simulate presented results and projects that offer practical, hands-on experience using concepts discussed throughout the book.

Table of Contents



Elements of a Classical Control System

How the Model of a Dynamic System Can Help to Control It

Control of Robot Manipulators



System of Systems Simulation

SoS in a Nutshell

An SoS Simulation Framework

SoS Simulation Framework Examples

Agent-in-the-Loop Simulation of an SoS




Observer Design and Kalman Filtering

State Space Methods for Model-Based Control

Observing and Filtering Based on Dynamic Models

Derivation of the Discrete Kalman Filter

Worked Out Project on the Inverted Pendulum

Particle Filters


Fuzzy Systems—Sets, Logic, and Control

Classical Sets

Classical Set Operations

Properties of Classical Set

Fuzzy Sets

Fuzzy Set Operations

Properties of Fuzzy Sets

Classical Relations versus Fuzzy Relations

Predicate Logic

Fuzzy Logic

Approximate Reasoning

Fuzzy Control



Neural Network-Based Control

NN-Based Identification of Dynamics of a Robot Manipulator

Structure of NNs

Generating Training Data for an NN

Dynamic Neurons

Attractors, Strange Attractors, and Chaotic Neurons

Cerebellar Networks and Exposition of Neural Organization to Adaptively Enact Behavior


Introduction to System of Systems

Definitions of SoS

Challenging Problems in SoS



Control of System of Systems

Hierarchical Control of SoS

Decentralized Control of SoS

Other Control Approaches



Reward-Based Behavior Adaptation

Markov Decision Process

Temporal Difference-Based Learning

Extension to Q Learning

Exploration versus Exploitation

Vector Q Learning


An Automated System to Induce and Innovate Advanced Skills in a Group of Networked Machine Operators

Visual Inspection and Acquisition of Novel Motor Skills

Experimental Setup

Dynamics of Successive Improvement of Individual Skills

Proposed Model of Internal Model Construction and Learning

Discussion and Conclusion


A System of Intelligent Robots-TrainedAnimals-Humans in a Humanitarian Demining Application

A Novel Legged Field Robot for Landmine Detection

Combining a Trained Animal with the Robot

Simulations on Multirobot Approaches to Landmine Detection


Robotic Swarms for Mine Detection System of Systems Approach

SoS Approach to Robotic Swarms

Designing System of Swarm Robots: GroundScouts

Mine Detection with Ant Colony-Based Swarm Intelligence





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Thrishantha Nanayakkara was a postdoctoral research fellow at the Department of Biomedical Engineering, School of Medicine, Johns Hopkins University, Baltimore, Maryland. From 2003 to 2007, he was a faculty member at the University of Moratuwa, Sri Lanka, and was the principal investigator of the "Laboratory for Intelligent Field Robots" at the Department of Mechanical Engineering. Dr. Nanayakkara was also the founding general chair of the International Conference on Information and Automation, and is an associate editor of the Journal of Control and Intelligent Systems. At present, he is a fellow in the Radcliffe Institute, Harvard University, and a research affiliate of the Computer Science and Artificial Intelligence Laboratory of the Massachusetts Institute of Technology.

Ferat Sahin currently serves as the deputy editor-in-chief for International Journal of Computers and Electrical Engineering and an associate editor for IEEE Systems Journal and AutoSoft Journal, as also serves as the technical cochair of the IEEE SMC International Conference on System of Systems Engineering (SOSE 2008 and SOSE 2009). He is also the director of the Multi Agent Bio-Robotics Laboratory at Rochester Institute of Technology (RIT), where he is also currently an associate professor.

Mo M. Jamshidi has served in various capacities with the U.S. Air Force Research Laboratory, the U.S. Department of Energy, NASA Headquarters, NASA JPL, Oak Ridge National Laboratory, and the Los Alamos National Laboratory. He has also served in various academic and industrial positions at various national and international organizations including IBM and GM Corporation. In 1999, he was a NATO Distinguished Professor in Portugal, and in 2008, he was a UK Royal Academy of Engineering fellow in the UK. Dr. Jamshidi is currently the Lutcher Brown endowed chair professor at the University of Texas, San Antonio.