Neuromorphic control: adaptation and learning

A structure for a neural network-based robotic motion controller is presented. Simulations of both position and force servos are carried out, and the approach is shown to be useful for a nonlinear system in an uncertain environment. The neural network comprises a four-layer network, including input/output layers and two hidden layers. Time delay elements are included in the first hidden layer, so that the neural network can learn dynamics of the system. The authors also implement a new learning method based on fuzzy logic, which is useful to accelerate learning and improve convergence