Incorporation of experience in iterative learning controllers using locally weighted learning

被引：51
|
作者：
Arif, M
Ishihara, T
Inooka, H
机构：
[1] Pakistan Inst Engn & Appl Sci, Dept Informat & Comp Sci, Islamabad, Pakistan
[2] Tohoku Univ, Grad Sch Informat Sci, Sendai, Miyagi 980, Japan
来源：
AUTOMATICA | 2001年 / 37卷 / 06期
关键词：
iterative learning control; trajectory tracking; locally weighted learning;
D O I：
10.1016/S0005-1098(01)00030-9
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method of incorporating experience in iterative learning controllers is proposed in this paper. Importance of the selection of initial control input in the convergence of error is highlighted. It is proposed that if previous experience of the controller can be incorporated in the selection of the initial control input for a new desired trajectory tracking task, the convergence of error can be improved without modifying the structure of the controller. Therefore, the proposed method is very general and is applicable to most of the iterative learning control algorithms. (C) 2001 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：881 / 888
页数：8
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