Learning Feedforward Control Using A Dilated B-Spline Network : Frequency Domain Analysis and Design  

Oleh:

Bahi, V. ; Moore, K. L. ; Chen, YangQuan

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 15 no. 2 (Mar. 2004), page 355-366.
Topik: networks; learning; dilated b - spline network; domain analysis; design

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.10 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

This paper presents a frequency - domain analysis and design approach for a learning feedforward controller (LFFC) using a dilated B - spline network. The LFFC acts as an add - on element to the existing feedback controller (FBC). The LFFC signal is updated iteratively based on the FBC signal of the previous iteration as the task repeats. Similar to proportional - integral - derivative controller tuning, there are only two parameters to adjust : The B - spline support width and the learning gain. The effect of dilation in the B - spline network is discussed. Detailed design formulae are given based on a stability analysis. As an illustration, simulation results on the path tracking control of a wheeled mobile robot are presented.

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