A New Cerebellar Control Scheme and Simulation Based on Kalman Estimator

The present paper proposes a new cerbellar learning scheme of feedback error learning scheme fortracing in motor control system. In the scheme, the modelof cerebellar cortex is regarded as the feedforward controller. Specifically, a neural network and an estimator areadopted in the cerebellar cortex model which can predictthe 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 thenew scheme can learn to control the inverted pendulum fortracing successfully.