Imitative Learning Based Emotional Controller for Unknown Systems with Unstable Equilibrium
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In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
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 phas ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...
Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...
Automatically synthesizing behaviors for robots with articulated bodies poses a number of challenges beyond those encountered when generating behaviors for simpler agents. One such challenge is how to optimize a controller that can orchestrate dynamic moti ...
In this paper we present results of computational experiments where multi-objective algorithms were used to tune a controller for blind movements in a room of the LESO experimental building. The blind controller which is based on fuzzy logic was optimized ...
An application of fuzzy logic based control for power systems governing multiple flexible alternating current transmission system (FACTS) devices is described here. Sufficiently accurate relations have been derived to determine setpoints of FACTS devices u ...
Acute stress regulates different aspects of behavioral learning through the action of stress hormones and neuromodulators. Stress effects depend on stressor's type, intensity, timing, and the learning paradigm. In addition, genetic background of animals mi ...
In this paper a combination of brain emotional learning based intelligent controllers (BELBICs) is employed to control an unidentified practical overhead crane. The proposed controller is a model free controller and has the capability to deal with multi-ob ...
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...