Title :
Using experience to get better convergence in iterative learning control
Author :
Arif, Muhammad ; Ishihara, Tadashi ; Inooka, Hikaru
Author_Institution :
Tohoku Univ., Sendai, Japan
Abstract :
A method of incorporating experience in iterative learning controllers is proposed. It is proposed that if the previous experience of the controller can be used in the selection of the initial control input for a new desired trajectory tracking task, the convergence of the iterative learning controller can be improved without modifying the structure of the controllers. Therefore the method proposed in the paper is very general and is applicable to most of the iterative learning control algorithms
Keywords :
convergence; learning systems; nonlinear control systems; time-varying systems; experience; initial control input; learning control; trajectory tracking task; Control systems; Convergence; Databases; Equations; Error correction; Force control; Iterative algorithms; Iterative methods; Time varying systems; Trajectory;
Conference_Titel :
SICE Annual, 1999. 38th Annual Conference Proceedings of the
Conference_Location :
Morioka
Print_ISBN :
4-907764-13-8
DOI :
10.1109/SICE.1999.788726
