On-line adaptive control for inverted pendulum balancing based on feedback-error-learning

Neurocomputing

Volumn 70, Issue 4-6, 2007, Pages 770-776

  Ruan, Xiaogang ^a   Ding, Mingxiao ^a   Gong, Daoxiong ^a   Qiao, Junfei ^a  

^a BEIJING UNIVERSITY OF TECHNOLOGY   (China)

Author keywords

Balance control; Feedback error learning model; On line learning

Indexed keywords

ALGORITHMS; BACKPROPAGATION; COMPUTER SIMULATION; FEEDBACK CONTROL; FEEDFORWARD NEURAL NETWORKS; LEARNING SYSTEMS; PENDULUMS;

BALANCE CONTROL; FEEDBACK-ERROR-LEARNING MODEL; ON-LINE LEARNING;

ADAPTIVE CONTROL SYSTEMS;

ACCURACY; ALGORITHM; ARTICLE; ARTIFICIAL NEURAL NETWORK; BODY EQUILIBRIUM; COMPUTER SIMULATION; ERROR; FEEDBACK SYSTEM; MACHINE LEARNING; ONLINE SYSTEM; PRIORITY JOURNAL; SIGNAL PROCESSING;

EID: 33846018573     PISSN: 09252312     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.neucom.2006.10.012     Document Type: Article

References (26)

1. Almeida L.B., Langlois T., Amaral J.D., and Plankhov A. Parameter adaptation in Stochastic Optimization. In: Saad D. (Ed). On-line Learning in Neural Networks (1998), Cambridge University Press, Cambridge 111-134
2. Battiti R. First- and second-order methods for learning: between steepest descent and Newton's method. Neural Comput. 4 (1992) 141-166
3. Beloozerova I.N., Sirota M.G., Swadlow H.A., Orlovsky G.N., Popova L.B., and Deliagina T.G. Activity of different classes of neurons of the motor cortex during postural corrections. J. Neurosci. 23 (2003) 7844-7853
4. Eliassen J.C., Souza T., and Sanes J.N. Human brain activation accompanying explicitly directed movement sequence learning. Exp. Brain Res. 141 (2001) 269-280
5. Glickstein M. Cerebellar agenesis. Brain 117 (1994) 1209-1212
6. R. Hecht-Nielsen, Theory of the backprogation neural network, Proceedings of IJCNN '89, June 1989, pp. 593-605.
7. Holmes G. The Croonian Lectures on the clinical symptoms of cerebellar disease, and their interpretation. Lancet 1 (1922) 1177-1237
8. Horak F.B., and Nashner L.M. Central programming of postural movements: adaptations to altered support-surface configurations. J. Neurophysiol. 55 6 (1986) 1369-1381
9. Ito M. Neurophysiological aspects of the cerebellar motor control system. Int. J. Neurol. 7 (1970) 162-176
10. Jahn K., Deutschlander A., Stephan T., Strupp M., Wiesmann M., and Brandt T. Brain activation patterns during imagined stance and locomotion in functional magnetic resonance imaging. Neruoimage 22 (2004) 1722-1731
11. Kawato M. Internal models for motor control and trajectory planning. Curr. Opinion Neurobiol. 9 (1999) 718-727
12. Kawato M., and Gomi H. A computational model of four regions of the cerebellum based on feedback error learning. Biol. Cybern. 69 (1992) 95-103
13. Looney C.G. Pattern Recognition using Neural Networks (1997), Oxford University Press, Oxford, UK
14. Z.W. Luo, S. Fujii, Y. Saitoh, E. Muramatsu, K. Watanabe, Feedback-error learning for explicit force control of a robot manipulator interacting with unknown dynamic environment, Proceedings of the IEEE International Conference on Robotics and Biomimetics 2004, August 2004, pp. 262-267.
15. Magoulas G.D., Plagianakos V.P., and Vrahatis M.N. Adaptive stepsize algorithms for on-line training of neural networks. Nonlinear Anal. 47 (2001) 3425-3430
16. Magoulas G.D., Plagianakos V.P., and Vrahatis M.N. Neural network-based colonoscopic diagnosis using on-line learning and differential evolution. Appl. Soft Comput. 4 (2004) 369-379
17. McGeer T. Passive dynamic walking. Int. J. Robotics Res. 9 2 (1990) 68-82
18. McMahon T.A. Muscles, Reflexes, and Locomotion (1984), Princeton University Press, Princeton, NJ
19. Miyamura A., and Kimura H. Stability of feedback error learning scheme. Syst. Control Lett. 45 (2002) 303-316
20. Nakanishi J., and Schall S. Feedback error learning and nonlinear adaptive control. Neural Networks 17 (2004) 1453-1465
21. Narendra K.S., and Valavani L.S. Stable Adaptive Systems (1989), Prentice-Hall International Editions, Englewood Cliffs, NJ
22. Nashner L.M., and McCollum G. The organization of human postural movements: a formal basis and experimental synthesis. Behav. Brain Sci. 8 (1985) 135-172
23. Ouchi Y., Okada H., Yoshikawa E., Nobezawa S., and Futatsubashi M. Brain activation during maintenance of standing postures in humans. Brain 122 (1999) 329-338
24. Shidara M., Kawano K., Gomi H., and Kawato M. Inverse-dynamics encoding of eye movement by Purkinje cells in the cerebellum. Nature 365 (1993) 50-52
25. Stein J.F., and Glickstein M. Role of the cerebellum in visual guidance of movement. Physiol. Rev. 74 (1992) 967-1017
26. Wolpert D.M., Miall R.C., and Kawato M. Internal models in the cerebellum. Trends Cognitive Sci. 2 (1998) 338-347