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

Authors:
YangQuan Chen;K. L. Moore;V. Bahl
Affiliations:
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA;-;-
Venue:
IEEE Transactions on Neural Networks
Year:
2004

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Abstract

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.