A Learning Controller for Decentralized Nonlinear Systems

This paper describes a learning controller which uses both a general model and a local model to produce good generalization and fast learning. The controller also differs from past learning controllers by generating control commands without using the inverse dynamics model. The controller was applie...

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Bibliographic Details
Main Author: Long, Theresa W.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Couplings
Distributed control
Error correction
Inverse problems
Manipulator dynamics
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear systems
Payloads
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Summary:This paper describes a learning controller which uses both a general model and a local model to produce good generalization and fast learning. The controller also differs from past learning controllers by generating control commands without using the inverse dynamics model. The controller was applied to the decentralized control of a highly coupled nonlinear system - a three link manipulator. Simulations show that the controller maintains a high tracking performance when the payload was varied from 0 to 4 times the normal payload. The tracking accuracy in terms of rms errors is 10 5 radians, which is a two orders of magnitude better than a conventional decentralized adaptive controller previously reported for a similar system.
DOI:10.23919/ACC.1993.4793108