@inproceedings{a0076d37259d444ab2bec816fd8a70be,
title = "A Novel Self-Organizing Emotional CMAC Network for Robotic Control",
abstract = "This paper proposes a self-organizing control system for uncertain nonlinear systems. The proposed neural network is composed of a conventional brain emotional learning network (BEL) and a cerebellar model articulation controller network (CMAC). The input value of the network is feed to a BEL channel and a CMAC channel. The output of the network is generated by the comprehensive action of the two channels. The structure of the network is dynamic, using a self-organizing algorithm allows increasing or decreasing weight layers. The parameters of the proposed network are on-line tuned by the brain emotional learning rules; the updating rules of CMAC and the robust controller are derived from the Lyapunov function; in addition, stability analysis theory is used to guaranty the proposed controller's convergence. A simulated mobile robot is applied to prove the effectiveness of the proposed control system. By comparing with the performance of other neural-network-based control systems, the proposed network produces better performance.",
author = "Juncheng Zhang and Quanfeng Li and Xiang Chang and Fei Chao and Lin, {Chih Min} and Longzhi Yang and Huynh, {Tuan Tu} and Ling Zheng and Changle Zhou and Changjing Shang",
year = "2020",
month = jul,
doi = "10.1109/IJCNN48605.2020.9207710",
language = "English",
isbn = "9781728169279",
series = "Proceedings of the International Joint Conference on Neural Networks",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2020 International Joint Conference on Neural Networks( IJCNN)",
address = "United States",
note = "2020 International Joint Conference on Neural Networks, IJCNN 2020 ; Conference date: 19-07-2020 Through 24-07-2020",
}