Personal and Ubiquitous Computing

, Volume 20, Issue 3, pp 361–372 | Cite as

A laguerre neural network-based ADP learning scheme with its application to tracking control in the Internet of Things

  • Xiong Luo
  • Yixuan Lv
  • Mi Zhou
  • Weiping Wang
  • Wenbing Zhao
Original Article


Sensory data have becoming widely available in large volume and variety due to the increasing presence and adoption of the Internet of Things. Such data can be tremendously useful if they are processed properly in a timely fashion. They could play a key role in the coordination of industrial production. It is thus desirable to explore an effective and efficient scheme to support data tracking and monitoring. This paper intends to propose a novel automatic learning scheme to improve the tracking efficiency while maintaining or improving the data tracking accuracy. A core strategy in the proposed scheme is the design of Laguerre neural network (LaNN)-based approximate dynamic programming (ADP). As a traditional optimal learning strategy, ADP is a popular approach for data processing. The action neural network (NN) and the critic NN as two important components in ADP have big impact on the performance of ADP. In this paper, a LaNN is employed as the implementation of the action NN in ADP considering Laguerre polynomials’ approximation capability. In addition, this LaNN-based ADP is integrated into an online parameter-tuning framework to optimize those parameters of characteristic model that is used to trace the data in the tracking control system. Meanwhile, this article provides an associated Lyapunov convergence analysis to guarantee a uniformly ultimately boundedness property for tracking errors in the proposed approach. Furthermore, the proposed LaNN-based ADP optimal online parameter-tuning scheme is validated using a temperature dynamic tracking control task. The simulation results demonstrate that the scheme has satisfactory learning performance over time.


Automatic tracking Approximate dynamic programming (ADP) Laguerre neural network Characteristic model Parameter tuning Internet of Things 



This work is jointly funded by the National Natural Science Foundation of China under Grants 61174103, 61272357, and 61300074, the National Key Technologies R&D Program of China under Grant 2015BAK38B01, the Aerospace Science Foundation of China under Grant 2014ZA74001, and the Fundamental Research Funds for the Central Universities under Grant 06500025.


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Copyright information

© Springer-Verlag London 2016

Authors and Affiliations

  • Xiong Luo
    • 1
    • 2
  • Yixuan Lv
    • 1
    • 2
  • Mi Zhou
    • 1
    • 2
  • Weiping Wang
    • 1
    • 2
  • Wenbing Zhao
    • 3
  1. 1.School of Computer and Communication EngineeringUniversity of Science and Technology Beijing (USTB)BeijingChina
  2. 2.Beijing Key Laboratory of Knowledge Engineering for Materials ScienceBeijingChina
  3. 3.Department of Electrical Engineering and Computer ScienceCleveland State UniversityClevelandUSA

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