A Cerebellar Feedback Error Learning Scheme Based on Kalman Estimator for Tracing in Dynamic System

  • Liang Liu
  • Naigong Yu
  • Mingxiao Ding
  • Xiaogang Ruan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3971)


Motivated by recent physiological and anatomical evidence, a new feedback error learning scheme is proposed for tracing in motor control system. In the scheme, the model of cerebellar cortex is regarded as the feedforward controller. Specifically, a neural network and an estimator are adopted in the cerebellar cortex model which can predict the future state and eliminate faults caused by time delay. Then the new scheme was used to control inverted pendulum. The simulation experimental results show that the new scheme can learn to control the inverted pendulum for tracing successfully.


Purkinje Cell Cerebellar Cortex Inverted Pendulum Parallel Fiber Climb Fiber 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Liang Liu
    • 1
  • Naigong Yu
    • 1
  • Mingxiao Ding
    • 1
  • Xiaogang Ruan
    • 1
  1. 1.School of Electronic Information and Control EngineeringBeijing University of TechnologyBeijingP.R. China

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