| Presentation | 2005/6/16 Self-Organizing Adaptive Controllers based on modular network SOM : Application to the Inverted Pendulum Tetsuya MINATOHARA, Tetsuo FURUKAWA, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, a novel framework of adaptive controller called 'Self-Organizing Adaptive Controller (SOAC)', based on modular network SOM (mnSOM), is proposed. The mnSOM is a generalization of conventional SOM, each nodal unit of which is replaced by a functional module. The SOAC is an mnSOM that employs pairs of controller and predictor as the functional modules. In this study, we made a simulation experiment on an inverted pendulum, the weight and the length of which were suddenly changed. As the result, SOAC succeeded to control the pendulum adaptively, even though the parameters were suddenly varied. This result suggests that SOAC has a high adaptive control ability. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | mnSOM / adaptive control / feedback-error-learning / inverted pendulum |
| Paper # | NC2005-16 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2005/6/16(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Self-Organizing Adaptive Controllers based on modular network SOM : Application to the Inverted Pendulum |
| Sub Title (in English) | |
| Keyword(1) | mnSOM |
| Keyword(2) | adaptive control |
| Keyword(3) | feedback-error-learning |
| Keyword(4) | inverted pendulum |
| 1st Author's Name | Tetsuya MINATOHARA |
| 1st Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology() |
| 2nd Author's Name | Tetsuo FURUKAWA |
| 2nd Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology |
| Date | 2005/6/16 |
| Paper # | NC2005-16 |
| Volume (vol) | vol.105 |
| Number (no) | 130 |
| Page | pp.pp.- |
| #Pages | 6 |
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