Control of mechatronic systems by learning actuator reference trajectories described by B-spline curves

Two algorithms are proposed for learning actuator reference trajectories to control mechatronic systems. The first algorithm uses the nominal dynamics and specified trajectories of the controlled systems. The algorithm is applicable to linear control systems. In the second algorithm the learning process does not require knowledge of the dynamics of the controlled system but only uses the performance index to evaluate motion of the system. This algorithm does not require specification of a trajectory. It is effective in the case that the system is nonlinear or difficult to identify. Two algorithms are obtained and applied to two systems: one involving trajectory tracking control for a one-link flexible arm and the other for learning the swing trajectory of an inverted pendulum