Output trajectory tracking based on feedforward learning

24 August 2005

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, 1747-1751
https://doi.org/10.1109/acc.1994.752372

Abstract

This paper presents an iterative scheme for the feedforward output tracking control of a nonlinear system. In each iteration, the system is probed with a finite number of independent input signals and then the corresponding output signals are fitted to the desired output trajectory. For linear time invariant systems, a standard least square problem is solved. For nonlinear systems, this procedure amounts to a Newton-Raphson iteration with an approximate gradient. Simulation results involving the application to a 6-DOF PUMA 560 robot are included.

Keywords

TRAJECTORY
NONLINEAR SYSTEMS
CONTROL SYSTEMS
LEAST SQUARES METHODS
CONVERGENCE
NONLINEAR CONTROL SYSTEMS
ROBOTS
SYSTEMS ENGINEERING AND THEORY
TIME INVARIANT SYSTEMS
MODELING

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