publication . Article . Preprint . 2017

Design and implementation of an adaptive critic-based neuro-fuzzy controller on an unmanned bicycle

Ali Shafiekhani; Mohammad J. Mahjoob; Mehdi Akraminia;
Open Access
  • Published: 10 Feb 2017 Journal: Mechatronics, volume 28, pages 115-123 (issn: 0957-4158, Copyright policy)
  • Publisher: Elsevier BV
Abstract
Fuzzy critic-based learning forms a reinforcement learning method based on dynamic programming. In this paper, an adaptive critic-based neuro-fuzzy system is presented for an unmanned bicycle. The only information available for the critic agent is the system feedback which is interpreted as the last action performed by the controller in the previous state. The signal produced by the critic agent is used along with the error back propagation to tune (online) conclusion parts of the fuzzy inference rules of the adaptive controller. Simulations and experiments are conducted to evaluate the performance of the proposed controller. The results demonstrate superior per...
Subjects
free text keywords: Mechanical Engineering, Electrical and Electronic Engineering, Computer Science Applications, Computer Science - Systems and Control, Control theory, Neuro-fuzzy, Control engineering, Reinforcement learning, Fuzzy logic, Adaptive control, Engineering, business.industry, business, Backpropagation, Robustness (computer science), Kalman filter
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