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CMAC-based adaptive critic self-learning control

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2 Author(s)
C. -S. Lin ; Dept. of Electr. & Comput. Eng., Missouri Univ., Columbia, MO, USA ; H. Kim

A technique that integrates the cerebellar model articulation controller (CMAC) into a self-learning control scheme developed by A.G. Barto et al. (IEEE Trans. Syst. Man., Cybern., vol.SMC-13, p.834-46, Sept./Oct. 1983) is presented. Instead of reserving one input line (as a memory) for each quantized state, the integrated technique distributively stores learned information; this reduces the required memory and makes the self-learning control scheme applicable to problems of larger size. CMAC's capability with regard to information interpolation also helps improve the learning speed

Published in:

IEEE Transactions on Neural Networks  (Volume:2 ,  Issue: 5 )