Improved path following of USU ODIS by learning feedforward controller using dilated B-spline network
نویسندگان
چکیده
A learning feedforward controller (LFFC) using a dilated B-splines network (BSN) is proposed in this paper. The LFFC acts as an add-on element to . the existing feedback controller (FBC) for control performance enhancement. The LFFC signal is u p dated iteratively based on the FBC signal of previous iteration as the task repeats. In the LFFC approach, there are two parameters to tune: the Bspline support width and the learning gain. A frequency domain design approach is presented with detailed design formulae for dilation 2. Simulation results are presented for the path following control of the USU ODIS robot (omnidirectional inspection systems), a new family member of the Utah State University (USU) ODVs (Omni Directional Vehicles).
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تاریخ انتشار 2001