Qualitative Models for Adaptive Critic Neurocontrol
نویسندگان
چکیده
We demonstrate the use of qualitative models in the DHP method of training neurocontrollers. Two Fuzzy approaches to developing qualitative models are explored: a priori application of problem specific knowledge, and estimation of a first order TSK Fuzzy model. These approaches are demonstrated respectively on the cart-pole system and a non-linear multiple-inputmultiple-output plant proposed by Narendra. In both cases we find that a simplified model based on a Fuzzy framework enables better performance to be obtained as compared to use of non-Fuzzy models of equivalent complexity. In both cases we use models that, while poor as one-step predictors, achieve effectiveness in the DHP training context equivalent to that of exact analytic models
منابع مشابه
Partial, noisy and qualitative models for adaptive critic based neurocontrol
The roles of plant models in adaptive critic methods for approximate dynamic programming are considered, with primary focus given to the DHP methodology. In place of complete system identification, partial, approximate, and qualitative models of plant dynamics are considered. Such models are found to be sufficient for successful controller design. As classification is in general easier than reg...
متن کاملSpeeding - Up Adaptive Heuristic Critic
Neurocontrol is a crucial area of fundamental research within the neural network eld. Adaptive Heuristic Critic learning is a key algorithm for real time adaptation in neurocontrollers. In this paper we present how an unsupervised neural network model with adaptable structure can be used to speed-up Adaptive Heuristic Critic learning, its FPGA design , and how it adapts the neurocontroller to t...
متن کاملAdaptive Critic Based Approximate Dynamic Programming for Tuning Fuzzy Controllers
This work was supported by the National Science Foundation under grant ECS-9904378. Abstract: In this paper we show the applicability of the Dual Heuristic Programming (DHP) method of Approximate Dynamic Programming to parameter tuning of a fuzzy control system. DHP and related techniques have been developed in the neurocontrol context but can be equally productive when used with fuzzy controll...
متن کاملA comparison of training algorithms for DHP adaptive critic neurocontrol
A variety of alternate training strategies for implementing the Dual Heuristic Programming (DHP) method of approximate dynamic programming in the neuro-control context are explored. The DHP method of controller training has been successfully demonstrated by a number of authors on a variety of control problems in recent years, but no unified view of the implementation details of the method has y...
متن کاملAdaptive Critic Designs - Neural Networks, IEEE Transactions on
We discuss a variety of adaptive critic designs (ACD’s) for neurocontrol. These are suitable for learning in noisy, nonlinear, and nonstationary environments. They have common roots as generalizations of dynamic programming for neural reinforcement learning approaches. Our discussion of these origins leads to an explanation of three design families: Heuristic dynamic programming (HDP), dual heu...
متن کامل