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Paper Abstract and Keywords
Presentation 2007-11-19 11:05
Online Feedback Error Learning Control of Neural Network with Scaling Factor for an Inverted Pendulum
Yuzuru Morita, Hiroshi Wakuya (Saga Univ.) NC2007-66
Abstract (in Japanese) (See Japanese page) 
(in English) This paper presents an application of the feedback error learning technique for online control of an inverted pendulum system which has uncertain friction nonlinearity. In order to make possible online adaptive learning system, the preliminary training and the scaling factor for the neural network and two stages learning scheme are introduced. After some learning cycles (or epochs), responses of the plant show the minimum values that the feedback error learning scheme acts as an adaptive controller to minimize the control error. This means that the neural network acquires the inverse dynamic model of the plant through learning and then compensates the nonlinearity of the plant. The phase relationship between the output of the conventional feedback controller and the neural network is clarified. It is also shown that this control system works well for a step reference signal after learning.
Keyword (in Japanese) (See Japanese page) 
(in English) Online feedback error learning / neural network / scaling factor / inverted pendulum / nonlinear system / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 328, NC2007-66, pp. 65-70, Nov. 2007.
Paper # NC2007-66 
Date of Issue 2007-11-11 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2007-66

Conference Information
Committee NC  
Conference Date 2007-11-18 - 2007-11-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Saga Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) neuro-hardware, and general 
Paper Information
Registration To NC 
Conference Code 2007-11-NC 
Language English 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Online Feedback Error Learning Control of Neural Network with Scaling Factor for an Inverted Pendulum 
Sub Title (in English)  
Keyword(1) Online feedback error learning  
Keyword(2) neural network  
Keyword(3) scaling factor  
Keyword(4) inverted pendulum  
Keyword(5) nonlinear system  
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Keyword(8)  
1st Author's Name Yuzuru Morita  
1st Author's Affiliation Saga University (Saga Univ.)
2nd Author's Name Hiroshi Wakuya  
2nd Author's Affiliation Saga University (Saga Univ.)
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Speaker Author-1 
Date Time 2007-11-19 11:05:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2007-66 
Volume (vol) vol.107 
Number (no) no.328 
Page pp.65-70 
#Pages 6 
Date of Issue 2007-11-11 (NC) 

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