20204 Study of Feedback Error Learning Control for Underactuated Systems
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概要
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Feedback Error Learning (FEL) control is regarded as a hybrid controller, which consists of a feedforward and feedback controller. This paper presents a new FEL control scheme to control underactuated systems with the application of Radial Basis Function Network (RBFN) based Finite Impulse Response (FIR) filter. In this system, the feedback controller is derived from backstepping control procedure, while the least square method is employed in the feedforward controller to obtain the inverse dynamic model of the plant. Simulations on a two link acrobat robot with nonzero initial angular momentum in achieving a final desired posture angle are performed to validate the proposed algorithm.
- 一般社団法人日本機械学会の論文
- 2009-03-05