Abstract
This paper proposes a new decision method for defining learning rates that automatically modulates those learning rates depending on the control situation. To show the effectiveness of the proposed method, existing simulation results obtained with a BELBIC and the simulation results obtained with the BELBIC proposed in this paper are compared. This paper performs a simulation to determine the potential applications of BELBIC to a haptic device control. A five-bar linkage haptic device with two active joints and two degrees of freedom is used in the simulation. Potential applications are studied by comparing the simulation results from a BELBIC with those from a proportional-integral controller.
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