Output trajectory tracking based on feedforward learning

Author

Cheng, W. ; Wen, J.T.

Author_Institution

Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

Volume

2

fYear

1994

fDate

29 June-1 July 1994

Firstpage

1747

Abstract

This paper presents an iterative scheme for the feedforward output tracking control of a nonlinear system. In each iteration, the system is probed with a finite number of independent input signals and then the corresponding output signals are fitted to the desired output trajectory. For linear time invariant systems, a standard least square problem is solved. For nonlinear systems, this procedure amounts to a Newton-Raphson iteration with an approximate gradient. Simulation results involving the application to a 6-DOF PUMA 560 robot are included.

Keywords

Newton-Raphson method; feedforward; learning systems; least squares approximations; nonlinear control systems; position control; tracking; 6-DOF PUMA 560 robot; Newton-Raphson iteration; approximate gradient; feedforward learning; iteration; iterative scheme; linear time-invariant systems; nonlinear system; output trajectory tracking; standard least-square problem; Control systems; Convergence; Least squares methods; Modeling; Nonlinear control systems; Nonlinear systems; Robots; Systems engineering and theory; Time invariant systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1994

Print_ISBN

0-7803-1783-1

Type

conf

DOI

10.1109/ACC.1994.752372

Filename

752372