Title: Brain emotional limbic-based intelligent controller design for control of a haptic device

Authors: Jae-Won Kim; Chae-Youn Oh; Jae-Wook Chung; Ki-Ho Kim

Addresses: CAMTIC Advanced Mechatronics Technology Institute for Commercialization, 67, Yusang-ro, Dukjin-gu, Jeonju City, Jeollabuk-do, South Korea ' Division of Mechanical System Engineering, Chonbuk National University, Dukjin-dong Dukjin-gu, Jeonju, Jeonbuk, South Korea ' 1st R&D, Agency for Defense Development, Jochiwon-gil, 462, Yuseong-gu, Daejeon, South Korea ' Korea Atomic Research Institute, Daeduk-daero 1045, Duckjin-dong, Yuseong-gu, Daejon, South Korea

Abstract: This paper proposes a new decision method for defining learning rates that automatically modulates those learning rates depending on the control situation. To show the effectiveness of the proposed method, existing simulation results obtained with a BELBIC and the simulation results obtained with the BELBIC proposed in this paper are compared. This paper performs a simulation to determine the potential applications of BELBIC to a haptic device control. A five-bar linkage haptic device with two active joints and two degrees of freedom is used in the simulation. Potential applications are studied by comparing the simulation results from a BELBIC with those from a proportional-integral controller.

Keywords: brain emotional learning-based intelligent controller; BELBIC; sensory input; emotional signal; learning rate; haptic device; virtual wall; PI controller.

DOI: 10.1504/IJAAC.2017.087041

International Journal of Automation and Control, 2017 Vol.11 No.4, pp.358 - 371

Received: 02 Mar 2016
Accepted: 23 Sep 2016

Published online: 05 Oct 2017 *

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