Stable robust controller inspired by the mammalian limbic system for a class of nonlinear systems

IGNACIO RUBIO SCOLA; LUIS RODOLFO GARCIA CARRILLO; JOAO HESPANHA

Denver

Conferencia; 2020 American Control Conference; 2020

IEEE

In recent years diverse computational models ofemotional learning observed in the mammalian brain haveinspired a number of self-learning control approaches. Thesearchitectures are promising in terms of their learning abilityand low computational cost. However, the lack of rigorousstability analysis and mathematical proofs of stability andperformance has limited the proliferation of these controllers.To address this drawback, this paper proposes a modifiedbrain emotional neural network structure using a radial basisfunction inside the Thalamus and an emotional signal based onan integral action structure to increase performance. Mathe-matical stability proofs are provided, together with numericalsimulations, demonstrating the superior performance obtainedwith the new modifications proposed to the emoional learning-inspired control.