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Reference TypeConference Proceedings
Author(s)Nakanishi, J.;Farrell, J. A.;Schaal, S.
Year2002
TitleA locally weighted learning composite adaptive controller with structure adaptation
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2002)
Keywordsadaptive control, learning, composite control law, provably stable, locally weighted regression
AbstractThis paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator. This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator
Place PublishedLausanne, Sept.30-Oct.4 2002
Short TitleA locally weighted learning composite adaptive controller with structure adaptation
URL(s) http://www-clmc.usc.edu/publications/N/nakanishi-IROS2002.pdf

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