Title :
Controller design based on orthogonal functions
Author_Institution :
Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA
Abstract :
The author presents a method of designing a learning controller based on the representation of the input-output signals by a set of orthogonal functions. Two theorems concerning the learning strategies in the design of the controller are given. They extend the results of S. Arimoto´s (1985) betterment processes in the sense that some less restrictive conditions for convergence are needed. Examples are given to illustrate the results. Potential applications to robot manipulator control are noted
Keywords :
adaptive control; control system synthesis; learning systems; robots; adaptive control; control system synthesis; design; input-output signals; learning controller; orthogonal functions; robot manipulator; Application software; Automatic control; Control systems; Design methodology; Iterative algorithms; Manipulators; Process control; Robot sensing systems; Robotics and automation; Signal design;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194411
