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作者:

Ruan, Xiaogang (Ruan, Xiaogang.) | Ding, Mingxiao (Ding, Mingxiao.) | Gong, Daoxiong (Gong, Daoxiong.) | Qiao, Junfei (Qiao, Junfei.) (学者:乔俊飞)

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EI Scopus

摘要:

A new on-line adaptive control scheme based on feedback-error-learning is proposed and applied to inverted pendulum balancing. The proposed adaptive controller for balancing consists of a conventional feedback controller (CFC) and a neural network feedforward controller (NNFC). In the NNFC, the feedback error signal is employed as input stimulator, instead of the usual reference signal. An on-line back-propagation (BP) algorithm with the self-adaptive learning rate is developed and employed in the NNFC to realize the combination of learning and controlling. Computer simulations on inverted pendulum balancing task demonstrate that the proposed adaptive controller could effectively reduce precision requirements of the CFC parameters, and guarantees good balance performance and acceptable robust performance. © 2006 Elsevier B.V. All rights reserved.

关键词:

Adaptive control systems Algorithms Backpropagation Computer simulation Feedback control Feedforward neural networks Learning systems Pendulums

作者机构:

  • [ 1 ] [Ruan, Xiaogang]Institution of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, 100022, China
  • [ 2 ] [Ding, Mingxiao]Institution of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, 100022, China
  • [ 3 ] [Gong, Daoxiong]Institution of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, 100022, China
  • [ 4 ] [Qiao, Junfei]Institution of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, 100022, China

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来源 :

Neurocomputing

ISSN: 0925-2312

年份: 2007

期: 4-6

卷: 70

页码: 770-776

6 . 0 0 0

JCR@2022

ESI学科: COMPUTER SCIENCE;

JCR分区:3

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次: 46

ESI高被引论文在榜: 0 展开所有

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