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| 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 |
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| 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 |
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| 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 |
| Keyword(6) | |
| Keyword(7) | |
| 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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