By Topic

An application of on-line parametric optimization to task-level learning control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
D. Gorinevsky ; Robotics & Autom. Lab., Toronto Univ., Ont., Canada

This paper considers a novel statement of task-level learning control problem, which is formulated as an online nonlinear least square parametric optimization problem. The input of the optimized system is the feedforward control sequence, the output is a sampled deviation from the reference motion. In addition to the input vectors, the system output depends on the task parameter vector, which includes initial and desired final coordinates for the system. The task parameter vector changes in the course of the optimization (learning) iterations and is not controlled by the algorithm. The paper surveys the online parametric optimization algorithm and demonstrates its application to the point-to-point vibration-free control of a two-link flexible manipulator arm. The learning is performed in the course of normal operation of the arm, which is simulated to move through a sequence of randomly generated goal configurations. Without any prior knowledge of the system dynamics, the algorithm achieves high-performance control of arbitrary arm motion in about 500 iterations. Residual vibrations are very small for the motion time being only 50% longer than the main mode oscillation period

Published in:

American Control Conference, Proceedings of the 1995  (Volume:1 )

Date of Conference:

21-23 Jun 1995