Fast and Stable Learning of Dynamical Systems Based on Extreme Learning Machine
文献类型：期刊论文
| 作者 | Jianghua Duan; Yongsheng Ou; Jianbing Hu; Zhiyang Wang; Shaokun Jin; Chao Xu |
| 刊名 | IEEE Transactions on Systems Man Cybernetics-Systems
 |
| 出版日期 | 2017 |
| 文献子类 | 期刊论文 |
| 英文摘要 | The approach of dynamical system (DS) is promising for modeling robot motion, and provides a flexible means of realizing robot learning and control. Accuracy, stability, and learning speed are the three main factors to be considered when learning robot movements from human demonstrations with DS. Some approaches yield stable dynamical systems, but these may result in a poor reproduction performance, while some approaches yield good reproduction performance but are quite complex and timeconsuming. In this paper, we address the accuracy-stability-speed issues simultaneously. We present a learning method named the fast and stable modeling for dynamical systems, which is based on the extreme learning machine to efficiently and accurately learn the parameters of the DS as well as to ensure the asymptotic stability at the target. We confirm the proposed approach by performing both 2-D tasks of learning handwriting motions and a set of robot experiments. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11734]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | IEEE Transactions on Systems Man Cybernetics-Systems |
| 推荐引用方式 GB/T 7714 | Jianghua Duan,Yongsheng Ou,Jianbing Hu,et al. Fast and Stable Learning of Dynamical Systems Based on Extreme Learning Machine[J]. IEEE Transactions on Systems Man Cybernetics-Systems,2017. |
| APA | Jianghua Duan,Yongsheng Ou,Jianbing Hu,Zhiyang Wang,Shaokun Jin,&Chao Xu.(2017).Fast and Stable Learning of Dynamical Systems Based on Extreme Learning Machine.IEEE Transactions on Systems Man Cybernetics-Systems. |
| MLA | Jianghua Duan,et al."Fast and Stable Learning of Dynamical Systems Based on Extreme Learning Machine".IEEE Transactions on Systems Man Cybernetics-Systems (2017). |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。