A Novel Self-Organizing Emotional CMAC Network for Robotic Control

Juncheng Zhang, Quanfeng Li, Xiang Chang, Fei Chao*, Chih Min Lin, Longzhi Yang, Tuan Tu Huynh, Ling Zheng, Changle Zhou, Changjing Shang

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

5 Dyfyniadau (Scopus)

Crynodeb

This paper proposes a self-organizing control system for uncertain nonlinear systems. The proposed neural network is composed of a conventional brain emotional learning network (BEL) and a cerebellar model articulation controller network (CMAC). The input value of the network is feed to a BEL channel and a CMAC channel. The output of the network is generated by the comprehensive action of the two channels. The structure of the network is dynamic, using a self-organizing algorithm allows increasing or decreasing weight layers. The parameters of the proposed network are on-line tuned by the brain emotional learning rules; the updating rules of CMAC and the robust controller are derived from the Lyapunov function; in addition, stability analysis theory is used to guaranty the proposed controller's convergence. A simulated mobile robot is applied to prove the effectiveness of the proposed control system. By comparing with the performance of other neural-network-based control systems, the proposed network produces better performance.

Iaith wreiddiolSaesneg
Teitl2020 International Joint Conference on Neural Networks, IJCNN 2020 - Proceedings
CyhoeddwrIEEE Press
ISBN (Electronig)9781728169262
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 28 Medi 2020
Digwyddiad2020 International Joint Conference on Neural Networks, IJCNN 2020 - Virtual, Glasgow, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 19 Gorff 202024 Gorff 2020

Cyfres gyhoeddiadau

EnwProceedings of the International Joint Conference on Neural Networks

Cynhadledd

Cynhadledd2020 International Joint Conference on Neural Networks, IJCNN 2020
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
DinasVirtual, Glasgow
Cyfnod19 Gorff 202024 Gorff 2020

Ôl bys

Gweld gwybodaeth am bynciau ymchwil 'A Novel Self-Organizing Emotional CMAC Network for Robotic Control'. Gyda’i gilydd, maen nhw’n ffurfio ôl bys unigryw.

Dyfynnu hyn