Control method and apparatus using two neural networks

Details Control method and apparatus using two neural networks Control method and apparatus using two neural networks

1994-02-18

1996-10-15

Downs, Robert W.

Image analysis

Histogram processing

For setting a threshold

395 80, 395 84, 395 96, 395 23, 382153, 382157, G05B 1904, G06E 100

Patent

active

055662757

ABSTRACT:
A control method of controlling a controlled system according to the invention comprises the first step of inputting a current and future target controlled variable to a first neural network model which performs learning using a past target controlled variable for the controlled system as an input signal and a past manipulated variable as a teacher signal, thereby obtaining a current virtual manipulated variable, the second step of causing a second neural network model, which have learnt to predict a behavior of the controlled system, to receive the virtual manipulated variable obtained in the first step and a controlled variable obtained from the controlled system at a current time, thereby obtaining a predicted controlled variable, the third step of obtaining an error of the predicted controlled variable obtained in the second step with respect to the target controlled variable, the fourth step of obtaining a correction amount for the virtual manipulated variable in accordance with a back propagation calculation of the second neural network model, using the error obtained in the third step, thereby correcting the virtual manipulated variable with the correction amount, and the fifth step of outputting the virtual manipulated variable corrected in the fourth step to the controlled system.

REFERENCES:
patent: 4990838 (1991-02-01), Kawato et al.
Leahy, M. B., et al, "Neurla Network Payload Estimation for adaptive robot control," IEEE Trans. on NN, V.2, N. 1. Jan. 1991, pp. 93-100.
Kawato, M. et al, "Hierarchical NN Model for voluntary movement with application to robotics," IEEE Control System Magazine, Apr. 30, 1988, pp. 8-15.
Franklin, J. A., "Refinement of robot motor skills through reinforcement learning," Proc. of 27th IEEE CDC, 1988, pp. 1096-1101.
Handelman, D. A., et al, "Integrating NNs and knowledge-based systems for intelligent robotic control," IEEE Control Systems Magazine, Apr. 30, 1990, pp. 77-87.
Rabelo, L. C., "Hierarchical Neurocontroller . . . ", Proc. of IEEE Int. Conf. on Robotics and Automation, Apr. 1991, pp. 2656-2661.

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