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A Cerebellar Feedback Error Learning Scheme Based on Kalman Estimator for Tracing in Dynamic System

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Advances in Neural Networks - ISNN 2006 (ISNN 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3971))

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Abstract

Motivated by recent physiological and anatomical evidence, a new feedback error learning scheme is proposed for tracing in motor control system. In the scheme, the model of cerebellar cortex is regarded as the feedforward controller. Specifically, a neural network and an estimator are adopted in the cerebellar cortex model which can predict the future state and eliminate faults caused by time delay. Then the new scheme was used to control inverted pendulum. The simulation experimental results show that the new scheme can learn to control the inverted pendulum for tracing successfully.

This work is supported by National Natural Science Foundation of China (60375017).

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Author information

Authors and Affiliations

  1. School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100022, P.R. China

    Liang Liu, Naigong Yu, Mingxiao Ding & Xiaogang Ruan

Authors
  1. Liang Liu
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  2. Naigong Yu
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  3. Mingxiao Ding
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  4. Xiaogang Ruan
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Editor information

Editors and Affiliations

  1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, China

    Jun Wang

  2. Computational Intelligence Laboratory, School of Computer Science and Engineering, University of Electronic Science and Technology of China, 610054, Chengdu, P.R. China

    Zhang Yi

  3. Department of Electrical Engineering, University of Louisville, 40292, Louisville, KY, U.S.A

    Jacek M. Zurada

  4. Laboratory for Computational Biology, Shanghai Center for Systems Biomedicine, 800 Dong Chuan Rd., 200240, Shanghai, China

    Bao-Liang Lu

  5. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

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© 2006 Springer-Verlag Berlin Heidelberg

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Liu, L., Yu, N., Ding, M., Ruan, X. (2006). A Cerebellar Feedback Error Learning Scheme Based on Kalman Estimator for Tracing in Dynamic System. In: Wang, J., Yi, Z., Zurada, J.M., Lu, BL., Yin, H. (eds) Advances in Neural Networks - ISNN 2006. ISNN 2006. Lecture Notes in Computer Science, vol 3971. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11759966_73

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  • DOI: https://doi.org/10.1007/11759966_73

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-34439-1

  • Online ISBN: 978-3-540-34440-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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