Piecewise Bilinear models for feedback error learning: On-line feedforward controller design

Feedback error learning is an on-line learning strategy of inverse dynamics. It sequentially acquires an inverse model of a plant through feedback control actions. The inverse model is usually implemented as a Neural Network, however we propose a new approach to implement the FEL control scheme through Piecewise Bilinear models. We present an on-line sequential learning algorithm for feedforward controller design. We also propose an algorithm for off-line identification of a pseudo-inverse model of a plant to use as an initial feedforward controller before its learning. We will prove the applicability of PB models to implement the FEL scheme through illustrative examples.