Learning Control Using B-Spline Reference Input Curves by Combining Global and Local Learning Processes and Its Application to the Tracking Control of a One-Link Flexible Arm

Autor:	Hiroaki Ozaki, Tetsuji Simogawa, William A. Gruver, Tsuyoshi Kubo, Chang-jun Lin
Rok vydání:	1999
Předmět:	Matrix (mathematics) Mechanics of Materials Control theory Simple (abstract algebra) Mechanical Engineering B-spline Trajectory Process (computing) Feed forward Industrial and Manufacturing Engineering Inverse dynamics Mathematics System dynamics
Zdroj:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 65:3218-3225
ISSN:	1884-8354 0387-5024
DOI:	10.1299/kikaic.65.3218
Popis:	A learning control method, which generates feedforward inputs described by B -spline curves, is proposed. The algorithm is composed of two parts: Local Learning (LL) and Global Learning (GL). LL iteratively improves a feedforward input to approach the system output to a specified desired trajectory. GL identifies the controlled system dynamics by trial movements. The method has following features: (1) Describing inputs as B-spline curves has two merits: Input trajectories obtained by LL need relatively less meories to be stored and they are useful for the feedback control because of their differentiability. (2) LL is expressed by a simple iterative rule. (3) The gain matrix of the iterative rule is determined by GL. (4) GL is useful in the meaning that the identification process does not need any knowledge about the number of parameters and the order of dynamics. (5) The inverse dynamics obtained by GL generates the input trajectory which is a good initial trial for LL. The proposed method is effectively applied to the tracking control for a one-link flexible arm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::bb7ce80585106dbcefa08d4d5d6b63a1 https://doi.org/10.1299/kikaic.65.3218 Zobrazit plný text záznamu