Roles of recurrence in neural control architectures

摘要

Abstract: In this paper we discuss the means by which recurrent connections are used in neural control system architectures. We first consider the state feedback approach to control and the role of recurrent neural networks for plant modeling and control. In this content, we provide an explicit formation for the computation of dynamic derivatives in recurrent neural network architectures as required for training by the dynamic gradient method. For illustration, we apply dynamic gradient methods to train recurrent neural network controllers for a series of cart-pole problems with the simultaneous objectives of pole balancing and cart centering.!18