In this talk, a Dynamic Fuzzy Q-Learning (DFQL) method that is capable of tuning Fuzzy Inference Systems (FIS) online is presented. A novel on-line self-organizing learning algorithm is developed so that structure and parameters identification are accomplished automatically and simultaneously based only on Q-Learning. Self-organizing fuzzy inference is introduced to calculate actions and Q-functions so as to deal with continuous-valued states and actions. Fuzzy rules provide a natural mean of incorporating the bias components for rapid reinforcement learning. Experimental results and comparative studies with the Fuzzy Q-Learning and Continuous-Action Q-Learning in the wall-following task of mobile robots demonstrate that the proposed DFQL method is superior.
Dr. Meng Joo Er received the B. Eng and M. Eng degrees in Electrical Engineering from the National University of Singapore, and the Ph.D degree in Systems Engineering from the Australian National University, Canberra in 1985, 1988 and 1992, respectively. From 1987 to 1989, he was as a Research and Development Engineer in Chartered Electronics Industries Pte Ltd, Singapore and a Software Engineer in Telerate Research and Development Pte Ltd, Singapore respectively. He is currently Director of the Intelligent Systems Centre, a University Research Centre co-funded by Nanyang Technological University (NTU) and Singapore Engineering Technologies and an Associate Professor in the School of Electrical and Electronic Engineering (EEE), NTU.
He has authored more than 200 published works in his research areas of interest, which include control theory and applications, biomedical engineering, fuzzy logic and neural networks, robotics and automation, artificial intelligence, parallel computing, power electronics and drives and digital signal processors applications. He has also authored a book entitled "Dynamic Fuzzy Neural Networks : Architectures, Algorithms and Applications" published by McGraw Hill and five book chapters in his research areas of interest.Currently, he serves as the General Chair of the Eight International Conference on Control, Automation, Robotics and Computer Vision (ICARCV'04), Chairman of the IEE Singapore Branch and an ordinary member of the IEE Council.
Dr. Er was the recipient of the Institution of Engineers, Singapore (IES) Prestigious Publication (Application) Award in 1996 and IES Prestigious Publication (Theory) Award in 2001. He received the Teacher of the Year Award, School of EEE for his excellent performance in teaching in 1999. He was also a recipient of a Commonwealth Fellowship tenable at University of Strathclyde from 14 February to 11 October, 2000.
Back to Control Seminars Page.