Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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CMAC Controller with Adaptive Critic Learning for Cart-Pole System

운반차-막대 시스템을 위한 적응비평학습에 의한 CMAC 제어계

  • 권성규 (계명대학교 기계공학과)
  • Published : 2000.10.01
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Abstract

For developing a CMAC-based adaptive critic learning system to control the cart-pole system, various papers including neural network based learning control schemes as well as an adaptive critic learning algorithm with Adaptive Search Element are reviewed and the adaptive critic learning algorithm for the ASE is integrated into a CMAC controller. Also, quantization problems involved in integrating CMAC into ASE system are studied. By comparing the learning speed of the CMAC system with that of the ASE system and by considering the learning genemlization of the CMAC system with the adaptive critic learning, the applicability of the adaptive critic learning algorithm to CMAC is discussed.

이 논문에서는 운반차-막대 시스템을 제어하기 위한 CMAC을 이용한 적응 학습 제어계를 개발하기 위하여, 적응비평학습을 이용하는 신경망 제어계에 관한 여러 연구 문헌들을 조사하고, ASE 요소를 이용하는 적응비평학습 기법을 CMAC을 바탕으로 하는 제어계에 통합하였다. 적응비평학습 기법을 CMAC에 구현하는데 있어서의 변환 문제를 검토하고, CMAC 제어계와 ASE 제어계가 운반차-막대 문제를 학습하는 속도를 비교하여, CMAC 제어계의 학습 속도가 빠르기는 하지만, 입력 공간의 더 넓은 영역에 대해서는 학습효과를 발휘하지 못하는 문제의 관점에서 적응비평학습 방법이 CMAC의 특성과 어울리는지를 고찰하였다.

Keywords

References

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