Title :
A robust line search for learning control
Author :
Driessen, Brian J. ; Sadegh, Nader ; Kwok, Kwan S.
Author_Institution :
Struct. Dynamics Dept., Sandia Nat. Labs., Albuquerque, NM, USA
Abstract :
In this paper a new line search for a Newton-Raphson learning control algorithm is presented. Theorems and rigorous proofs of its increased robustness over existing line searches are provided, and numerical examples are used to further validate the theorems. Also, the previously posed open question of whether robust optimal trajectory learning is possible is also addressed. It is shown that the answer is generally no, at least for gradient-based learning control algorithms
Keywords :
Newton-Raphson method; feedback; learning systems; optimal control; robust control; search problems; Newton-Raphson method; feedback; gradient method; learning control; line search; optimal control; robust control; robustness; Control systems; End effectors; History; Jacobian matrices; Laboratories; Motion control; Open loop systems; Robots; Robust control; Robustness;
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.1998.761836
