Intelligent control of mechatronic systems

This talk is dedicated to intelligent control of mechatronic systems. After a brief review of fuzzy logic and neural network systems, two main tools used for intelligent control, and some basic control concepts and methodologies, intelligent control is presented for two typical mechatronic systems, servo mechanisms and robotic systems by fully exploiting the physical properties of the systems. For servo mechanisms, both adaptive friction compensation and adaptive neural network (NN) control are investigated under various conditions. For robotic systems, intelligent control is discussed for rigid robots, flexible joint robots, flexible link robots, and smart materials flexible robots.