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A proposal of self-organized adaptive controller

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 A proposal of self-organized adaptive controller
Tetsuya Minatohara(YA) and Tetsuo Furukawa
Kyushu Institute of Technology, Kitakyushu 808-0196, Japan
E-mail: minatohara-tetsuya@edu.brain.kyutech.ac.jp

controllers
Introduction: How can we give robots our humans’ con- SOAC
trol skills which are accurate and flexible? We have been BMM of
state B
challenging this theme especially focusing on the gen-
eralization performance from a small number of train-
ing patterns and quick responses to unexpected changes. switch
The strategy we have devised is to adopt the idea of the
self-organizing map, namely, to establish “self-organizing
adaptive controller (SOAC)”. The architecture of the SOAC state A state B
BMM of
presented here has an arrayed structure of controllers, each state A
of which is accompanied by the corresponding predictor
Fig. 2: Underlying idea of SOAC : The BMM
(Fig.1). Therefore, the SOAC can be regarded as a kind of
controller gives the control signal to a tar-
modular network SOM (mnSOM) [1, 2], each module of
get object while all predictors are calcu-
which consists of a pair of controller and predictor blocks.
lated the object state after ∆t seconds. If an
In this paper, the architecture, the algorithm and a simu-
unexpected change occurs, then the BMM
lation experiment of the SOAC are introduced.
is varied with the change.
Algorithm of SOAC: In the SOAC, the modules are
adapted to different dynamics of controlled objects by the
learning algorithm of mnSOM. Briefly, the module which Half Half Long

predicted the state of the target object at ∆t sec later best

Middle Light Light

becomes the “Best Matching Module (BMM)”, and a num-

ber of modules including the BMM and its neighbors ac- Long
quire larger learning rates to adapt the object. As the result, Middle

modules with similar characteristics are located to nearer Half

Heavy
Long
Heavy
positions on the array, whereas those with different char-
acteristics are located to farer positions due to the SOM
algorithm. After the learning phase is finished, then the
network is fixed, and the SOAC is switched to the imple-
mentation phase. In the implementation phase, the target
object is controlled by the BMM, i.e., the module that pre- Short Short Short
Heavy Middle Light
dicted the target state best (Fig.2). It should be noted that
the BMM is determined by the predictor block, while the
Fig. 3: The map of SOAC : We experimented uti-
control signal is produced by the corresponding controller
lizing 9 pendulums which have different
block of the BMM.
length and weight. The white color grids
are represented the BMMs. In Addition,
A simulation experiment: We applied the SOAC to the
the color map indicates the simirarlity of
inverted pendulum control task to examine adaptability of
the modules among the neighbors.
the SOAC. As the result, the map which is acquired in the
learning phase is produced 3 clusters, i.e., “Short”, “Half”
References
and “Long” regions (Fig.3). We also suceeded adaptive
[1] Tokunaga, K., Furukawa, T., Yasui, S., Modular net-
control utilizing the SOAC, and will demonstrate the result work SOM: Extension of SOM to the realm of function
on the poster session. space K. Tokunaga, T. Furukawa, S. Yasui, Workshop
on Self-Organizing Maps (WSOM), 2003
x
Predictor D [2] Furukawa, T., Tokunaga, K., Morishita, K., Yasui, S.,
Controller Winner
Modular network SOM (mnSOM): From vector space
current
state x
u predicted
state ~x Take
All
Controlled
Object
to function space. Proc. of IJCNN, 2005
Predictor D
time delay
x^ desired state Controller
uk
Predictor D
u = u*
Controller control signal

Fig. 1: The architecture of SOAC

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