Title :
Stability of learning control with disturbances and uncertain initial conditions
Author :
Heinzinger, Greg ; Fenwick, Dan ; Paden, Brad ; Miyazaki, Fumio
Author_Institution :
Dept. of Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fDate :
1/1/1992 12:00:00 AM
Abstract :
The authors investigate the effects of state disturbances, output noise, and errors in initial conditions on a class of learning control algorithms. They present a simple learning algorithm and exhibit, via a concise proof, bounds on the asymptotic trajectory errors for the learned input and the corresponding state and output trajectories. Furthermore, these bounds are continuous functions of the bounds on the initial condition errors, state disturbances, and output noise, and the bounds are zero in the absence of these disturbances
Keywords :
learning systems; self-adjusting systems; stability; asymptotic trajectory errors; bounds; learning control; learning systems; output noise; self tuning systems; stability; state disturbances; uncertain initial conditions; Adaptive control; Automatic control; Control systems; Lyapunov method; Manipulators; Programmable control; Robot control; Robotics and automation; Robust control; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on