小脳パーセプトロン改良モデル利用型ロバスト制御システム

抄録

In this paper, we propose a robust control system based on a cerebellar perceptron improved model. Using function of cerebellum, human can unconsciously and properly control the movement of the body to realize certain purposes. It is considered that such an ability of the cerebellum is due to the stored memory of movement skill. In other words, human can behave smoothly due to recall the memory, thus it can do things better. So, we can say the cerebellum is a superior control system. We consider use of cerebellar improved model without conventional look up table, and apply it to a control system. Here the proposed system is called “Cerebellar Perceptron-based Robust Control System (CPRCS)”. Through the computer simulation for controlling an inverted pendulum system, we show the effectiveness of the proposed method.