基于尖峰神经元的经典条件反射模型及其在倒立摆控制系统中的应用.pdfVIP

The Classical Conditioning Model with Spiking Neuron and Its Application to the Inverted Pendulum Control System 1 Beibei Yang Xiaogang Ruan Institute of Information and Control Institute of Information and Control Beijing University of Technology Beijing University of Technology Beijing, P. R. China 100022 Beijing, P. R. China 100022 annyoung@ adrxg@ Abstract A spiking-neuron based cognitive model with classical conditioning behaviors is proposed. With a reflex arc structure and a reinforcement learning method based on the Hebb rule, the cognitive model possesses the property of ‘stimulate-response- reinforcement’ and can simulate the learning process of classical conditioning. An experiment on the inverted pendulum validated that this model can learn the balance control strategy by classical conditioning. Keywords: Cognitive model; Spiking neuron; Hebb Learning; Inverted Pendulum 1 Introduction Ivan Pavlov, a Russian scientist in biology, presented classical conditioning in 1927, which is the basic form of learning. In his well known experiment, a dog would repeatedly hear a tone which was always followed by the presentation of food. When the food was presented, the dog started to salivate. After a number of such presentations, the dog will learn that food follows shortly after the tone and would start to salivate already when it heard the sound. In the experiment, food is the unconditioned stimulus (US), and tone is the condi