Improved path following of USU ODIS by learning feedforward controller using dilated B-spline network

Author

Chen, YangQuan ; Moore, Kevin L. ; Bahl, Vikas

Author_Institution

Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA

fYear

2001

fDate

2001

Firstpage

59

Lastpage

64

Abstract

A learning feedforward controller (LFFC) using a dilated B-splines network (BSN) is proposed in this paper. The LFFC acts as an add-on element to the existing feedback controller (FBC) for control performance enhancement. The LFFC signal is updated iteratively based on the FBC signal of previous iteration as the task repeats. In the LFFC approach, there are two parameters to tune: the B-spline support width and the learning gain. A frequency domain design approach is presented with detailed design formulae for dilation 2. Simulation results are presented for the path following control of the USU ODIS robot (omnidirectional inspection systems), a new family member of the Utah State University (USU) ODVs (Omni Directional Vehicles).

Keywords

intelligent control; learning (artificial intelligence); mobile robots; position control; splines (mathematics); B-splines network; control performance enhancement; feedback controller; learning control; learning feedforward controller; omni directional vehicle; omnidirectional inspection systems; path following control; robot; Adaptive control; Control systems; Feedforward neural networks; Intelligent networks; Intelligent systems; Neural networks; Robots; Sampling methods; Signal design; Spline;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013173

Filename

1013173