Qualitative models for adaptive critic neurocontrol
Thaddeus T. Shannon, George G. Lendaris · 2003
We demonstrate the use of qualitative models in the dual heuristic programming (DHP) method of training neurocontrollers. Two fuzzy approaches to developing qualitative models are explored: a priori application of problem specific knowledge, and estimation of a first order TSK fuzzy model. These approaches are demonstrated respectively on the cart-pole system and a nonlinear multiple-input-multiple-output plant proposed by Narendra. In both cases we find that a simplified model based on a Fuzzy framework enables better performance to be obtained as compared to use of non-fuzzy models of equivalent complexity. In both cases we use models that, while poor as one-step predictors, achieve effectiveness in the DHP training context equivalent to that of exact analytic models.