Title :
A robust line search for underdetermined learning control
Author :
Driessen, Brian J. ; Sadegh, Nader ; Kwok, Kwan S.
Author_Institution :
Dept. of Struct. Dynamics, Sandia Nat. Labs., Livermore, CA, USA
Abstract :
In this paper a new line search for a Newton Rhaphson learning control algorithm is presented. Theorems and rigorous proofs of its increased robustness over existing line searches are provided, and numerical examples are used to further validate the theorems
Keywords :
Newton-Raphson method; feedback; learning systems; robust control; search problems; Newton Rhaphson method; feedback; learning control; line searches; robust control; robustness; stability; Control systems; End effectors; Feedback loop; History; Laboratories; Mechanical engineering; Motion control; Robot control; Robust control; Robustness;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897503
