A Novel Self-Organizing Emotional CMAC Network for Robotic Control*

Zhang, Juncheng, Li, Quanfeng, Chang, Xiang, Chao, Fei, Lin, Chih-Min, Yang, Longzhi, Huynh, Tuan Tu, Zheng, Ling, Zhou, Changle and Shang, Changjing (2020) A Novel Self-Organizing Emotional CMAC Network for Robotic Control*. In: 2020 International Joint Conference on Neural Networks (IJCNN): 2020 - conference proceedings. Proceedings of the International Joint Conference on Neural Networks . IEEE, Piscataway, pp. 1-6. ISBN 9781728169279, 9781728169262

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Abstract

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.

Item Type:	Book Section
Subjects:	G400 Computer Science H900 Others in Engineering
Department:	Faculties > Engineering and Environment > Computer and Information Sciences
Depositing User:	John Coen
Date Deposited:	03 Dec 2020 11:36
Last Modified:	03 Dec 2020 11:36
URI:	http://nrl.northumbria.ac.uk/id/eprint/44905

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