Title :
Experimental verification of the stability analysis of learning feed-forward control
Author :
Velthuis, Wubbe J R ; De Vries, Theo J A ; Gaal, Erik
Author_Institution :
Twente Univ., Enschede, Netherlands
Abstract :
In this paper the learning feedforward control (LFFC) scheme is considered. This type of controller is used for processes that repeatedly perform a specific task. LFFC compensates both for reproducible disturbances that depend on the state of the process, and for remaining random disturbances. The random disturbances are compensated by a feedback controller. The reproducible disturbances are compensated by a learning component consisting of a B-spline neural network that is operated in feedforward. In previous research, the stability properties LFFC were analyzed. From this analysis, quantitative criteria were obtained for selection of the support of the B-splines, and of the learning rate, for which the system is guaranteed to be stable. In this research the validity of the criteria is verified by means of experiments on a linear motor motion system
Keywords :
compensation; control system analysis; feedback; feedforward; learning systems; neurocontrollers; splines (mathematics); stability criteria; B-spline neural network; LFFC; learning feedforward control; linear motor motion system; quantitative criteria; random disturbances; reproducible disturbances; stability analysis; Adaptive control; Control systems; Feedforward neural networks; Feedforward systems; Feeds; Intelligent control; Neural networks; Spline; Stability analysis; World Wide Web;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758443
