ALALI, BASEL (Nara Institute of Science and Technology), HIRATA, Kentaro (Nara Institute of Science and Technology), Sugimoto, Kenji (Nara Institute of Science and Technology)

MIMO Feedback Error Learning Control with Stability Proof and Generalizations

Scheduled for presentation during the Regular Session "Adaptive and Learning Control" (TuP11), Tuesday, July 25, 2006, 16:35−17:00, Room 104a

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

Recently, much attention has been paid to Feedback Error Learning (FEL) control, which gives much improvement on the tracking performance of the system by means of on-line learning, without a mathematical model of the object to be controlled (plant). A remarkable feature of this scheme is that it uses a feedforward controller which is adjusted by some learning law depending on the feedback error signal. The authors have generalized Kawato’s original FEL scheme to strictly proper multi-input multi-output (MIMO) square systems. This paper gives further analysis of FEL scheme for bi-proper and non-square MIMO systems with stability proof of the square scheme.