Iterative learning of feed-forward corrections for high-performance tracking

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 3276-3281

  Mueller, Fabian L ^a   Schoellig, Angela P ^a   D'Andrea, Raffaello ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS MODELS; DYNAMICS SIMULATION; FEED-BACK LOOP; FEED-FORWARD; ITERATIVE LEARNING; LEARNING SCHEMES; SYSTEM DYNAMICS; TRACKING ACCURACY; TRACKING PERFORMANCE;

INTELLIGENT SYSTEMS;

LEARNING ALGORITHMS;

EID: 84872323024     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385647     Document Type: Conference Paper

References (19)

1. A. P. Schoellig and R. D'Andrea, "Optimization-based iterative learning control for trajectory tracking," in Proceedings of the European Control Conference (ECC), 2009, pp. 1505-1510.
2. A. P. Schoellig, F. L. Mueller, and R. D'Andrea, "Optimizationbased iterative learning for precise quadrocopter trajectory tracking," Autonomous Robots, vol. 33, pp. 103-127, 2012.
3. E. Todorov and W. Li, "A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems," in Proceedings of the American Control Conference (ACC), vol. 1, 2005, pp. 300-306.
4. M. Kawato, "Feedback-error-learning neural network for supervised motor learning," Advanced Neural Computers, vol. 6, no. 3, pp. 365-372, 1990.
5. "The Flying Machine Arena," www.flyingmachinearena.org, last accessed March 07, 2012.
6. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operation of robots by learning," Journal of Robotic Systems, vol. 1, no. 2, pp. 123-140, 1984.
7. D. A. Bristow, M. Tharayil, and A. G. Alleyne, "A survey of iterative learning control," IEEE Control Systems Magazine, vol. 26, no. 3, pp. 96-114, 2006.
8. H.-S. Ahn, K. L. Moore, and Y. Chen, Iterative Learning Control: Robustness and Monotonic Convergence for Interval Systems (Communications and Control Engineering), 1st ed. Springer, 2007.
9. I. Chin, S. J. Qin, K. S. Lee, and M. Cho, "A two-stage iterative learning control technique combined with real-time feedback for independent disturbance rejection," Automatica, vol. 40, no. 11, pp. 1913-1922, 2004.
10. M. Cho, Y. Lee, S. Joo, and K. S. Lee, "Semi-empirical modelbased multivariable iterative learning control of an RTP system," IEEE Transactions on Semiconductor Manufacturing, vol. 18, no. 3, pp. 430-439, 2005.
11. K. Barton, S. Mishra, and E. Xargay, "Robust iterative learning control: L1 adaptive feedback control in an ILC framework," in Proceedings of the American Control Conference (ACC), 2011, pp. 3663-3668.
12. O. Purwin and R. D'Andrea, "Performing aggressive maneuvers using iterative learning control," in Proceeding of the IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 1731-1736.
13. B. Bamieh, J. B. Pearson, B. A. Francis, and A. Tannenbaum, "A lifting technique for linear periodic systems with applications to sampled-data control," Systems & Control Letters, vol. 17, no. 2, pp. 79-88, 1991.
14. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge University Press, 2004.
15. "IBM ILOG CPLEX Optimizer," http://www-01.ibm.com/software/ integration/optimization/cplex-optimizer/, last accessed February 08, 2012.
16. J. P. How, B. Bethke, A. Frank, D. Dale, and J. Vian, "Real-time indoor autonomous vehicle test environment," IEEE Control Systems Magazine, vol. 28, no. 2, pp. 51-64, 2008.
17. N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, "The GRASP multiple micro UAV testbed," IEEE Robotics and Automation Magazine, vol. 17, no. 3, pp. 56-65, 2010.
18. S. Lupashin and R. D'Andrea, "Adaptive fast open-loop maneuvers for quadrocopters," Autonomous Robots, vol. 33, pp. 89-102, 2012.
19. A. P. Schoellig, C. Wiltsche, and R. D'Andrea, "Feed-forward parameter identification for precise periodic quadrocopter motions," in Proceedings of the American Control Conference (ACC), 2012, pp. 4313-4318.