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Kenji Sugimoto,Lorlynn Asuncion Mateo 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper proposes a new scheme of on-line identification for feedforward (FF) learning control of an unknown nonlinear multi-input multi-output (MIMO) plant free of zero dynamics. This is achieved by constructing a FF controller consisting of a bank of linear approximation models for various operating points, which are discretized and called scheduler. Conventional schemes used piecewise constant/linear interpolation techniques to address the discretization. However, the accuracy of response shaping was insufficient. To improve the performance, we propose to take a basis function approach to tune the parameter of the FF controller. To verify the effectiveness of the proposed scheme, numerical simulation is carried out using the motion equation of a two-link manipulator.