全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于滑模思想和Elman网络的操作条件反射学习控制方法

, PP. 1398-1401

Keywords: 操作条件反射,滑模控制,Elman,网络,,倒立摆,平衡控制

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对一类单输入单输出高阶非线性控制系统,提出一种基于滑模思想和Elman网络的操作条件反射(OCR)学习控制方法.该方法采用Elman网络构造滑模面-行为对的评价函数,通过滑模面的变化设计奖赏函数,根据奖赏信号更新评价函数,实现行为选择概率的更新.通过每轮次熵的定义,定量分析了所学知识的变化量.针对行走倒立摆系统的仿真实验结果表明,采用该仿生的OCR学习控制方法,可实现行走倒立摆的平衡控制.

References

[1]  Thorndike, E.L. (1911). Animal Intelligence: Experimental Studies (New York: Macmillan). [2] Skinner, B.F. (1938). The Behavior of Organisms: An Experimental Analysis (New York: Appleton-Century-Crofts). [3] Pavlov, I.P. (1927). Conditioned Reflexes (Oxford: Oxford University Press). [4] Bj?rn Brembs, Research: Neurobiology of behavior. [EB/OL]. http://brembs.net/ 2000-2009. [5] Brembs, B. , Plendl, W. Double dissociation of PKC and AC manipulations on operant and classical learning in Drosophila[J]. Current Biology, 2008,18(15), 1168-1117. [6] B Brembs. The Importance of Being Active. Journal of Neurogenetics, 2008, 1-7. ISSN: 0167-7063 print/1563-5260 online DOI: 10.1080/01677060802471643. [7] Zalama E, Gomez J, Paul M, et al. Adaptive behavior navigation of a mobile robot[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part A – Systems and Humans, 2002, 32(1):160-169. [8] Itoh K, Miwa H, Matsumoto M, et al, Behavior model of humanoid robots based on operant conditioning[C]//IEEE/RAS International Conference on Humanoid Robots. Piscataway, NJ, USA: IEEE, 2005: 220-225. [9] 王雪松 程玉虎 易建强 王炜强.基于Elman网络的非线性系统增强式学习控制[J].中国矿业大学学报,2006,35(5):653-657. [10] M. Guo, Y. Liu and J. Malec, “A New Q-Learning Algorithm Based on the Metropolis Criterion,” IEEE Transaction on System, Man, and Cybernetics –PART B: Cybernetics[J]. 2004,34(5):2140-2143. [11] M. Obayashi, N. Nakahara, T. Kuremoto, K. Kobayashi. A robust reinforcement learning using the concept of sliding mode control[J]. Artif Life Robotics(DOI 10.1007/s10015-008-0608-3). 2009,13:526–530.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133