Stability analysis of learning feed-forward control

✍ Scribed by Wubbe J.R. Velthuis; Theo J.A. de Vries; Pieter Schaak; Erik W. Gaal

• Book ID: 104105651
• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 244 KB
• Volume: 36
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/s0005-1098(00)00107-2

✦ Synopsis

In this paper, a learning control system is considered for motion systems that are subject to two types of disturbances; reproducible disturbances, that re-occur each run in the same way, and random disturbances. In motion systems, a large part of the disturbances appear to be reproducible. In the control system considered, the reproducible disturbances are compensated by a learning component consisting of a B-spline neural network that is operated in feed-forward. The paper presents an analysis of stability properties of the con"guration in case of a linear process and second-order B-splines. The outcomes of the analysis are quantitative criteria for selection of the width of the B-splines, and of the learning rate, for which the system is guaranteed to be stable. These criteria facilitate the design of a learning feed-forward controller.