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The main objective is to design a proportional controller of a robot manipulator using the fuzzy cerebellar model articulation controller based on Takagi -- Sugeno (T -- S) framework with a compensator. The controller and compensator apply in visual servoing, including system identification of image and kinematic Jacobians. The proposed approach is basically as a function of the visual error and extent...
The objective of this paper is to accelerate the process of policy improvement in reinforcement learning. The proposed Dyna-style system combines two learning schemes, one of which utilizes a temporal difference method for direct learning; the other uses relative values for indirect learning in planning between two successive direct learning cycles. Instead of establishing a complicated world model,...
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