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IEEE International Conference on Fuzzy Systems at the World Congress on Computational Intelligence (WCCI 98)

作者： Verschure, PFMJ ETH UZ CH-8006 Zurich Switzerland

ISBN: (纸本)078034863X

The multi disciplinary study of mind, brain, and behavior has reached a point where we seem to be confronted with the dilemma of studying either the computational mind or the dynamical brain. The cognitivist study of the computational mind has shown to be very effective in describing many elements of "high level" cognition. In the mean time, however, its most explicit expression, classical AI, is facing a number of fundamental problems. This has created a situation where arguments are raised in favor of abandoning the computational view. In this paper this dilemma is described. It is demonstrated that only one problem is hidden behind the multiple challenges facing the traditional computational program;the problem of a prioris, It is shown that the central component in a solution of this problem focuses on the nature of the knowledge ascribed or implemented by cognitive systems. A research program is defined, synthetic epistemology, which aims at addressing this question. As an example of this approach the modeling series of distributed adaptive control is described. It is shown that this modeling series, which reflects elements of the behavioral paradigms of classical and operant conditioning and has been shown to be consistent with aspects of the correlated neural substrate, provides an alternative unifying perspective to the dilemma facing the study of mind, brain, and behavior.

关键词： mind brain behavior distributed adaptive control learning neural model epistemology robot conditioning artificial intelligence

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Towards a Synthetic Tutor Assistant: The EASEL Project and its Architecture 5th

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5th International Conference on Biomimetic and Biohybrid Systems (Living Machines)

作者： Vouloutsi, Vasiliki Blancas, Maria Zucca, Riccardo Omedas, Pedro Reidsma, Dennis Davison, Daniel Charisi, Vicky Wijnen, Frances van der Meij, Jan Evers, Vanessa Cameron, David Fernando, Samuel Moore, Roger Prescott, Tony Mazzei, Daniele Pieroni, Michael Cominelli, Lorenzo Garofalo, Roberto De Rossi, Danilo Verschure, Paul F. M. J. Univ Pompeu Fabra DTIC N RAS SPECS Barcelona Spain Catalan Inst Adv Studies ICREA Barcelona Spain Univ Twente Human Media Interact ELAN Enschede Netherlands Univ Sheffield Sheffield Robot Sheffield S Yorkshire England Univ Pisa Pisa Italy

ISBN: (纸本)9783319424170;9783319424163

Robots are gradually but steadily being introduced in our daily lives. A paramount application is that of education, where robots can assume the role of a tutor, a peer or simply a tool to help learners in a specific knowledge domain. Such endeavor posits specific challenges: affective social behavior, proper modelling of the learner's progress, discrimination of the learner's utterances, expressions and mental states, which, in turn, require an integrated architecture combining perception, cognition and action. In this paper we present an attempt to improve the current state of robots in the educational domain by introducing the EASEL EU project. Specifically, we introduce the EASEL's unified robot architecture, an innovative Synthetic Tutor Assistant (STA) whose goal is to interactively guide learners in a science-based learning paradigm, allowing us to achieve such rich multimodal interactions.

关键词： Education Robotic tutor assistant Pedagogical models Cognitive architecture distributed adaptive control

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Multi-player Multi-armed Bandits: Decentralized Learning with IID Rewards

Multi-player Multi-armed Bandits: Decentralized Learning wit...

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50th Annual Allerton Conference on Communication, control, and Computing (Allerton)

作者： Kalathil, Dileep Nayyar, Naumaan Jain, Rahul Univ So Calif Dept Elect Engn Los Angeles CA 90089 USA

ISBN: (纸本)9781467345392;9781467345378

We consider the decentralized multi-armed bandit problem with distinct arms for each players. Each player can pick one arm at each time instant and can get a random reward from an unknown distribution with an unknown mean. The arms give different rewards to different players. If more than one player select the same arm, everyone gets a zero reward. There is no dedicated control channel for communication or coordination among the user. We propose an online learning algorithm called dUCB(4) which achieves a near-O(log(2) T). The motivation comes from opportunistic spectrum access by multiple secondary users in cognitive radio networks wherein they must pick among various wireless channels that look different to different users.

关键词： distributed adaptive control multi-armed bandits online learning multi-agent systems

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Beyond Rationalism: Symbols Patterns and Behavior

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Connection Science 1992年第3-4期4卷 313-325页

作者： Pfeifer, Rolf Verschure, Paul Institute for Informatics University of Zurich CH-8057 Zurich Winterthurerstrasse 190 Switzerland

Rationalism has been referred to as the tradition of explaining cognition in terms of logical structures. Much of the work in traditional AI can be seen within a rationalistic framework. Because of the problems with traditional Al connectionist models have been proposed as an alternative. Connectionist models do solve a number of problems of Al in interesting ways, e.g. learning generalization, and fault and noise tolerance. However, they do not automatically provide solutions to the basic conceptual problems which can be traced back to a neglect of the relation of AI systems with the real world. We will argue that if we are to make progress in the understanding of (intelligent) behavior the real issue is not whether connectionism is a better paradigm for cognitive science than traditional AI but whether a rationalistic perspective is appropriate and if not what the alternatives are. It is suggested that studying physically instantiated autonomous agents is an important step. However, we will show that building autonomous agents alone does not solve the problem either. What is needed is an appropriate embedding in a non-rationalistic framework. We will discuss a potential solution using an approach we have been developing in our group, called distributed adaptive control. © 1992, Taylor & Francis Group, LLC. All rights reserved.

关键词： Autonomous agents connectionism distributed adaptive control information processing paradigm non-rationalistic design pattern rationality rationalism

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distributed adaptive Consensus Disturbance Rejection:a Directed-spanning-tree Perspective 41

Distributed Adaptive Consensus Disturbance Rejection:a Direc...

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第41届中国控制会议

作者： Dongdong Yue Simone Baldi Jinde Cao School of Mathematics Southeast University Delft Center for Systems and Control Delft University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we revisit the problem of consensus disturbance rejection for multiagent systems over a digraph,but from a different perspective,i.e.,the perspective of a directed spanning tree(DST).When the minimum nonzero real part of the Laplacian eigenvalues is available,we reproduce the sufficient lower bound for a static homogeneous coupling gain in the literature,by exploring a DST structure of the *** major novelty arises when it is shown that by adaptively tuning the coupling gains along a DST,consensus disturbance rejection can be achieved when the above eigenvalue information is not *** examples on networks of second-order oscillators and UAVs are included to validate the theoretical results.

关键词： distributed adaptive control Consensus Disturbance rejection Directed spanning tree

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Event-triggered adaptive Output Consensus Tracking control of Uncertain Nonlinear Multi-agent Systems 15

Event-triggered Adaptive Output Consensus Tracking Control o...

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15th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Long, Jiang Wang, Wei Huang, Jiangshuai Wang, Lei Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing Adv Innovat Ctr Big Data & Brain Comp Beijing Peoples R China Chongqing Univ Sch Automat Chongqing Peoples R China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151694

This paper investigates the distributed adaptive output consensus tracking problem for uncertain nonlinear multi-agent systems with event-triggered control inputs and event-triggered communication. A new event-based adaptive output consensus tracking scheme is proposed under directed graph condition. To compensate the effects of uncertain external disturbances and event-triggered measurement errors on the close-loop system stability, an additional parameter estimator is introduced in each agent to estimate the unknown lumped parameter consisting of the upper bound of external disturbances and the triggering threshold. Besides, both continuous monitoring of neighbors' states and the information of global parameters are not needed in designing the triggering mechanism. It is shown that all the signals in the closed-loop system are globally uniformly bounded and the desired output consensus tracking can be achieved.

关键词： distributed adaptive control uncertain nonlinear multi-agent systems event-triggered control

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Modulating Learning Through Expectation in a Simulated Robotic Setup 5th

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5th International Conference on Biomimetic and Biohybrid Systems (Living Machines)

作者： Blancas, Maria Zucca, Riccardo Vouloutsi, Vasiliki Verschure, Paul F. M. J. Univ Pompeu Fabra N RAS DTIC Lab Synthet Percept Emot Cognit Syst SPECS Barcelona Spain Catalan Inst Adv Studies ICREA Barcelona Spain

ISBN: (纸本)9783319424170;9783319424163

In order to survive in an unpredictable and changing environment, an agent has to continuously make sense and adapt to the incoming sensory information and extract those that are behaviorally relevant. At the same time, it has to be able to learn to associate specific actions to these different percepts through reinforcement. Using the biologically grounded distributed adaptive control (DAC) robot-based neuronal model, we have previously shown how these two learning mechanisms (perceptual and behavioral) should not be considered separately but are tightly coupled and interact synergistically via the environment. Through the use of a simulated setup and the unified framework of the DAC architecture, which offers a pedagogical model of the phases that form a learning process, we aim to analyze this perceptual-behavioral binomial and its effects on learning.

关键词： distributed adaptive control Autonomous synthetic agents Rule learning

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adaptive output feedback event-triggered consensus control for networked reaction-diffusion PDE systems

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INTERNATIONAL JOURNAL OF control 2024年第12期97卷 2765-2778页

作者： Zheng, Yukan Li, Yuan-Xin South China Univ Technol Sch Automat Sci & Engn Guangzhou Peoples R China Liaoning Univ Technol Coll Sci Jinzhou Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

This paper explores the adaptive output feedback event-triggered consensus control of a network of parabolic systems modelled by partial differential equations (PDEs). An infinite-dimensional state observer is established to estimate the state based on the relative output information. On the basis of the adaptive state observer, two novel distributed event-triggered controllers are proposed to address the leaderless consensus and leader-follower consensus problem. Based on the Lyapunov method and PDE theory, it is shown that the asymptotic consensus control can be achieved. Compared to the related works, a distinctive feature of the designed event-triggered consensus protocols is fully distributed which does not demand any global information of the graph. In addition, the absence of Zeno behaviour is demonstrated. Lastly, the obtained results are demonstrated using two simulations.

关键词： Event-triggered control distributed adaptive control consensus networked parabolic PDE systems

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adaptive consensus of uncertain nonlinear systems with event triggered communication and intermittent actuator faults

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AUTOMATICA 2020年 111卷 108667-000页

作者： Wang, Wei Wen, Changyun Huang, Jiangshuai Zhou, Jing Beihang Univ Beijing Adv Innovat Ctr Big Data & Brain Comp Beijing 100191 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Nanyang Ave Singapore 639798 Singapore Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Univ Agder Dept Engn Sci N-4898 Grimstad Norway

This paper investigates distributed consensus tracking problem for uncertain nonlinear systems with event-triggered communication. The common desired trajectory information and each subsystem's state will be broadcast to their linked subsystems only when predefined triggering conditions are satisfied. Compared with the existing related literature, the main features of the results presented in this paper include four folds. (i) A totally distributed adaptive control scheme is developed for multiple nonlinear systems without Lipschitz condition, while with parametric uncertainties. (ii) The derivative of desired trajectory function is allowed unknown by all subsystems and directed communication condition is considered. (iii) The designed event triggering conditions do not require either continuous monitoring of neighboring subsystems' states or global graph information available by all subsystems. (iv) The results are successfully extended to the case with uncertain intermittent actuator faults by modifying both local control laws and adaptive laws. It is shown that for both fault-free and faulty cases, all closed-loop signals are ensured globally uniformly bounded and the tracking errors of all subsystems states will converge to a compact set. Besides, the tracking performance in the mean square error sense can be improved by appropriately adjusting design parameters. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： distributed adaptive control Consensus Event triggered communication Intermittent actuator faults Uncertain nonlinear systems

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adaptive bipartite tracking control for multiple autonomous surface vessels

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OCEAN ENGINEERING 2023年第1期281卷

作者： Gu, Jianzhong Li, Wuquan Yang, Hongyong Ludong Univ Div Sci & Technol Yantai 264025 Shandong Peoples R China Ludong Univ Sch Math & Stat Sci Yantai 264025 Shandong Peoples R China Ludong Univ Sch Informat & Elect Engn Yantai 264025 Shandong Peoples R China

This paper is concerned with bipartite tracking control design for multiple autonomous surface vessels with unknown dynamics and external disturbances. Under a signed directed graph, novel distributed adaptive control inputs are constructed recursively by using backstepping method to make the bipartite tracking errors eventually converge to an arbitrarily small compact set by appropriately adjusting design parameters. To reduce the complexity of the controllers, we employ parameter separation technique to deal with the unknown dynamics. In particular, under the assumption that the reference trajectory is only available to a fraction of followers, the cooperative tracking is also achieved with the proposed distributed control design scheme. Finally, two simulation examples are given to demonstrate the effectiveness of theoretical results.

关键词： distributed adaptive control Bipartite tracking control Cooperative tracking control Parameter separation technique

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