Experimental verification of the stability analysis of Learning Feed-Forward Control

Wubbe J.R. Velthuis, Theo J.A. de Vries, Erik Gaal

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    8 Citations (Scopus)
    28 Downloads (Pure)

    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
    Original languageEnglish
    Title of host publicationProceedings of the 37th IEEE Conference on Decision and Control
    Subtitle of host publicationDecember 16-18, 1998, Hyatt Regency Westshore, Tampa, Florida
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages1225-1229
    Number of pages5
    Volume2
    ISBN (Print)0-7803-4394-8/9
    DOIs
    Publication statusPublished - 15 Dec 1998
    Event37th IEEE Conference on Decision and Control, CDC 1998 - Hyatt Regency Westshore, Tampa, United States
    Duration: 16 Dec 199818 Dec 1998
    Conference number: 37

    Publication series

    NameProceedings IEEE Conference on Decision and Control (CDC)
    PublisherIEEE
    ISSN (Print)0191-2216

    Conference

    Conference37th IEEE Conference on Decision and Control, CDC 1998
    Abbreviated titleCDC
    CountryUnited States
    CityTampa
    Period16/12/9818/12/98

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