フジタ トモヒロ
藤田 智弘
FUJITA Tomohiro
所属 理工学部 電子情報工学科
職名 教授
発表年月日 2020/09/25
発表テーマ Cerebellar Model Articulation Controller with Threshold Learning Cell
会議名 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
主催者 the Society of Instrument and Control Engineers (SICE)
開催地名 オンライン
学会区分 国際学会
発表形式 口頭(一般)
単独共同区分 共同
開催期間 2020/09/23 ~ 2020/09/26
発表者・共同発表者 Yamada Soichiro, Kumaki Takeshi, Ogura Takeshi, Fujita Tomohiro
概要 We propose a cerebellar model articulation controller (CMAC) with a threshold learning cell (TLC). The CMAC is widely used for neural-network-based control, and we introduce the TLC to the CMAC. This CMAC + TLC has a simple structure and its learning algorithm consists only of comparison, increment, decrement, and count. Thanks to the simplicity of this learning algorithm, the advantage of the CMAC + TLC is its easy hardware implementation. We experimentally evaluated its function-approximation accuracy. The results indicate that the CMAC + TLC has a better approximation ability than the original CMAC.