Learning Feed-Forward Control: a Survey and Historical Note

Theo J.A. de Vries, Wubbe J.R. Velthuis, Job van Amerongen

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    From a mechatronic point of view, the performance of electromechanical motion systems can be improved by changing both the mechanical design and the controller. The design of a controller is generally based on a model of the plant. Thus, to improve the controller, a more accurate model of the plant is required. When the structure is not known or when many parameters cannot be determined, learning control may be considered. A simple yet powerful learning control scheme that is suitable for electro-mechanical motion systems is Learning Feed-Forward Control. In this paper an overview is given of applications that have been reported concerning this scheme. Also, relations are listed with alternative learning control schemes that are in some sense alike.
    Original languageEnglish
    Title of host publicationMechatronic systems
    Subtitle of host publication1st IFAC Conference, Darmstadt, Germany, September 18-20, 2000
    EditorsRolf Isermann
    Place of PublicationDüsseldorf
    Publication statusPublished - 18 Sept 2000
    Event1st IFAC Conference on Mechatronic Systems 2000 - Darmstadt, Germany
    Duration: 18 Sept 200020 Sept 2000
    Conference number: 1


    Conference1st IFAC Conference on Mechatronic Systems 2000


    • Learning control
    • Neural networks
    • Intelligent control
    • Feedback error learning
    • Learning feed-forward control
    • Iterative learning control
    • Motion control


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