Stable adaptive systems
International Journal of Robotics Research
Pattern recognition using neural networks: theory and algorithms for engineers and scientists
Pattern recognition using neural networks: theory and algorithms for engineers and scientists
Parameter adaptation in stochastic optimization
On-line learning in neural networks
Feedback error learning and nonlinear adaptive control
Neural Networks
Double chains quantum genetic algorithm with application to neuro-fuzzy controller design
Advances in Engineering Software
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A new on-line adaptive control scheme based on feedback-error-learning is proposed and applied to inverted pendulum balancing. The proposed adaptive controller for balancing consists of a conventional feedback controller (CFC) and a neural network feedforward controller (NNFC). In the NNFC, the feedback error signal is employed as input stimulator, instead of the usual reference signal. An on-line back-propagation (BP) algorithm with the self-adaptive learning rate is developed and employed in the NNFC to realize the combination of learning and controlling. Computer simulations on inverted pendulum balancing task demonstrate that the proposed adaptive controller could effectively reduce precision requirements of the CFC parameters, and guarantees good balance performance and acceptable robust performance.