Learning feedforward control using a Dilated B-spline network: frequency Domain Analysis and design

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.

[1]  Theo J. A. de Vries,et al.  Performance optimisation of learning feed forward control , 1997 .

[2]  Theodorus J.A. de Vries,et al.  Linear motor motion control using a learning feedworward controller , 1997 .

[3]  Michael Unser,et al.  Splines: a perfect fit for signal and image processing , 1999, IEEE Signal Process. Mag..

[4]  J. van Amerongen.  Learning feed forward control of a flexible beam , 1996 .

[5]  Kevin L. Moore,et al.  A six-wheeled omnidirectional autonomous mobile robot , 2000 .

[6]  W.J.R. Velthuis,et al.  Experimental verification of the stability analysis of learning feed-forward control , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[7]  Kevin L. Moore,et al.  Implementation of an omnidirectional robotic inspection system (ODIS) , 2001, SPIE Defense + Commercial Sensing.

[8]  J. van Amerongen,et al.  Learning feedforward controller for a mobile robot vehicle , 1996 .

[9]  Kevin L. Moore,et al.  Improved path following of USU ODIS by learning feedforward controller using dilated B-spline network , 2001, Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515).

[10]  YangQuan Chen,et al.  Iterative Learning Control: Convergence, Robustness and Applications , 1999 .

[11]  Jian-Xin Xu,et al.  Iterative Learning Control , 1998 .

[12]  Richard W. Longman,et al.  Designing iterative learning and repetitive controllers , 1998 .

[13]  Michael J. Grimble,et al.  Iterative Learning Control for Deterministic Systems , 1992 .

[14]  Vikas Bahl,et al.  The scalar /spl epsiv/-controller: a spatial path tracking approach for ODV, Ackerman, and differentially-steered autonomous wheeled mobile robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[15]  Theodorus J.A. de Vries,et al.  Regularisation in Learning Feed-Forward Control , 2000 .

[16]  YangQuan Chen,et al.  Frequency domain adaptive learning feedforward control , 2001, Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515).

[17]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[18]  Zeungnam Bien,et al.  Iterative learning control: analysis, design, integration and applications , 1998 .

[19]  Wubbe Jan Roelf Velthuis,et al.  Learning feed-forward control - theory, design and applications - , 2000 .

[20]  Pieter Schaak,et al.  Stability analysis of learning feed-forward control , 2000, Autom..