NDLI: Associated Hermite series based Iterative Learning Control with Experience inclusion using Local Learning Approach

Content Provider	IEEE Xplore Digital Library
Author	Gopinath, S. Kar, I.N. Bhatt, R.K.P.
Copyright Year	2006
Description	Author affiliation: Indian Inst. of Technol., New delhi (Gopinath, S.; Kar, I.N.; Bhatt, R.K.P.)
Abstract	In this paper, associated Hermite (AH) series based learning control (AH-ILC) scheme with experience inclusion has been proposed for the tracking control of robot manipulators including actuator dynamics. Approximation of system function has been done by orthonormal projections of Hermite polynomials. AH basis functions are orthogonal in euclidean space in both time, frequency domains, since each one is isomorphic to its Fourier transform, thus the Hermite coefficients are independent to each other. AH series is used to approximate the desired and actual trajectories of the system into finite number of Hermite coefficients. AH-ILC is designed in such a way that forces the Hermite coefficients of actual output approach to the corresponding coefficients of desired trajectory which are known constants, such that the tracking control of robot manipulator is achieved. Instead of zero initial input assumption as in most of the ILC algorithms, this paper includes the idea of using past trajectory tracking experiences on initial input selection using locally weighted learning approach for new trajectory tasks. The learning controller is based on the local input-output information. A priori structure or parameters of the system model are not required. The learning controller improves tracking performance as iteration progress and experience inclusion concept reduces initial iteration errors as well as improves the convergence of bounded error. Proposed ILC algorithm has been verified through detailed simulation studies.
Starting Page	4476
Ending Page	4483
File Size	403759
Page Count	8
File Format	PDF
ISBN	0780394909
DOI	10.1109/IJCNN.2006.247051
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-16
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Iterative methods Trajectory Robot control Manipulator dynamics Error correction Orbital robotics Actuators Polynomials Frequency domain analysis Fourier transforms
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Experience Inclusion in Fourier Series Based Iterative learning Control for Manipulators

Iterative learning control of a robot manipulator using nD practical tracking approach

Robot manipulator control with joint interaction estimation

Research of capture error and error compensate for space net capture robot

Frequency-domain design of iterative learning controllers for feedback systems

Hybrid position/force controller of robot manipulators based on CMAC learning

PID natural tracking control of a robot: application

A novel evolutionary PD control and application for trajectory tracking

AFDM Approach for Experience Inclusion in Learning Controllers

Associated Hermite series based Iterative Learning Control with Experience inclusion using Local Learning Approach

Similar Documents

Experience Inclusion in Fourier Series Based Iterative learning Control for Manipulators

Iterative learning control of a robot manipulator using nD practical tracking approach

Robot manipulator control with joint interaction estimation

Research of capture error and error compensate for space net capture robot

Frequency-domain design of iterative learning controllers for feedback systems

Hybrid position/force controller of robot manipulators based on CMAC learning

PID natural tracking control of a robot: application

A novel evolutionary PD control and application for trajectory tracking

AFDM Approach for Experience Inclusion in Learning Controllers

Associated Hermite series based Iterative Learning Control with Experience inclusion using Local Learning Approach