论文信息 - Adaptive control of nonlinear system with time delay based on the feedback error learning method

Adaptive control of nonlinear system with time delay based on the feedback error learning method

Aims to establish control theoretical validity of the feedback error learning (FEL) method for nonlinear manipulator dynamics including a time delay. It was shown in a practical two-links DD arm that with 200 milliseconds time delay in the feedback loop, the FEL method worked stably and tracking errors of the angles converged. In the paper, for the time delayed nonlinear systems, the stability of the adaptive control law of the FEL method is proven based on the small-gain theorem of nonlinear systems and Lyapunov stability theorem via a delayed state derivative.

Hidenori Kimura | Shun Ushida

[1] M. Kawato,et al. A hierarchical neural-network model for control and learning of voluntary movement , 2004, Biological Cybernetics.

[2] Panagiotis Tsiotras,et al. Stability of time-delay systems: equivalence between Lyapunov and scaled small-gain conditions , 2001, IEEE Trans. Autom. Control..

[3] Atsushi Watanabe,et al. A Finite Spectrum Assignment for Retarded Nonlinear Systems , 2000 .

[4] Mitsuo Kawato,et al. A computational model of four regions of the cerebellum based on feedback-error learning , 2004, Biological Cybernetics.

[5] K. Doya,et al. Motor Control: Neural Models and Systems Theory , 2001 .