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To solve the navigation problem of mobile robots in unknown environment, we develop a navigation scheme based on the bionic strategy which simulates operant conditioning mechanism. In this scheme, the tendency Cell is designed by use of information entropy which represents the tendency degree for state. The improved Q learning algorithm used as learning core to direct the learning direction. The Boltzmann...
This paper constructs a stochastic fuzzy controller to realize self-balancing control of two-wheeled robot. The rule of fuzzy controller is stochastic, which is automatically generated by an OCPFA learning system and optimized online. The OCPFA learning system is in fact a Probabilistic Finite Automata (PFA) which based on Skinner Operant Conditioning (Skinner OC), and it is composed by a bionic reorientation...
A method based on direct adaptive fuzzy control was proposed according to upstanding-balancing control problem for two-wheeled upstanding robot. Different from the fuzzy control, it didn't need to design the fuzzy rules in the beginning. And there was not strict limit to the constant before input. Experiments showed that the constant could be positive and negative, and could be a function in an interval...
A two-loop cascade adaptive controller is proposed for a non-stable, non-linear, strong coupling system using backstepping and fuzzy neural network. The proposed approach uses fuzzy neural networks to approximate unknown nonlinear function. Then, use backstepping to design adaptive controller to realize self-balancing control of robot. The simulation results indicate that both speediness and stability...
This paper present a novel method to control the balance of a two-wheeled robot by using reinforcement learning and fuzzy neural networks(FNN) which can guarantees the convergence and rapidity when the model of the robot is not available and the agent has no a prior knowledge. Furthermore it can effectively control the task of continuous states and actions. The simulation and experiment results demonstrate...
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