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

Volume

2

fYear

1998

fDate

16-18 Dec 1998

Firstpage

1225

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.758443

Filename

758443