A learning controller based on a nonlinear ARX inverse model identified by a genetic algorithm

Autor:	C. James Li, Y. C. Jeon, Tzong-Chyi Tzeng
Rok vydání:	1997
Předmět:	Engineering Nonlinear autoregressive exogenous model business.industry Feed forward Open-loop controller Control engineering Computer Science Applications Theoretical Computer Science Inverse dynamics Nonlinear system Control and Systems Engineering Control theory Genetic algorithm Robot business
Zdroj:	International Journal of Systems Science. 28:847-855
ISSN:	1464-5319 0020-7721
DOI:	10.1080/00207729708929445
Popis:	A nonlinear model based feedforward and feedback controller is described. This controller can control a nonlinear plant, such as a robot, whose dynamics are unknown. In the feedforward controller, it employs a Genetic Algorithm to identify nonlinear difference equations that model the inverse dynamics of the plant from the measured forcing functions and responses. In the feedback part, a PD feedback controller is employed to compensate for unmodelled dynamics and unexpected disturbances. Furthermore, an add-on learning controller is established to reduce tracking errors for repetitive tasks. The controller is validated with the control of a simulated two-joint manipulator. Simulation results demonstrate that a NARX model based feedforward/feedback and learning controller provides very accurate tracking.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::2cdc5c23c98ad9eff3d07d94e2c2807a https://doi.org/10.1080/00207729708929445 Zobrazit plný text záznamu