Emotional Control of Inverted Pendulum System, A soft switching from imitative to emotional learning

Model-free control of unidentified systems with unstable equilibriums results in serious problems. In order to surmount these difficulties, firstly an existing model-based controller is used as a mentor for emotional-learning controller. This learning phase prepares the controller to behave like the mentor, while prevents any instability. Next, the controller is softly switched from model based to emotional one, using a FIS. Also the emotional stress is softly switched from the mentor-imitator output difference to the combination of objectives generated by a FIS which attentionally modulated stresses. For evaluating the proposed model free controller, a laboratorial inverted pendulum is employed.


Published in:
International Conference on Autonomous Robots and Agents, 651-656
Presented at:
4th International Conference on Autonomous Robots and Agents (ICARA), Wellington, New Zealand, February 10-12, 2009
Year:
2009
Publisher:
IEEE
ISBN:
978-1-4244-2712-3
Laboratories:




 Record created 2011-09-29, last modified 2018-04-29


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