Perception control with improved expectation learning through multilayered neural networks

Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi

Research output: Contribution to journalLetter

3 Citations (Scopus)

Abstract

In this paper, we investigate the viability of multilayered neural network (NN)-based extension of a conventional "perception" control concept. The perception process selects and completes the information from the system to be controlled before passing it to the controlling agent so that control is not lost when sensory information from the system is incomplete. The perception process produces an expectation of the next set of information to be received from the system. The expectation is used to replace missing parts of the information received and it also influences the next perception. In the existing work, each of the expectation elements is linearly acquired such that the expectation tells only the dominant information in the recent past, i.e., this approach has no capability to sense the trend and the dynamics in the information. This handicap could become a serious problem when the perception process is applied to real physical systems. Here, we introduce an extension of the perception control process by using a radial basis function (RBF) feedforward NN to learn the trend and the dynamics in the information and produce the expectation of the next observation. Through some simulation comparisons, we show that the proposed RBFNN-based method is better than the existing one.

Original languageEnglish
Pages (from-to)1582-1587
Number of pages6
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume34
Issue number3
DOIs
Publication statusPublished - Jun 1 2004
Externally publishedYes

Keywords

  • Expectation
  • Perception control
  • Q-learning
  • RBF neural networks
  • Sensor interruption

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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