Transfer learning for high-precision trajectory tracking through L₁ adaptive feedback and iterative learning
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Transfer learning for high-precision trajectory tracking through \(\mathcal L 1\) adaptive feedback and iterative learning
Transfer learning for high-precision trajectory tracking through \(\mathcal L 1\) adaptive feedback and iterative learning
Abstract: Robust and adaptive control strategies are needed when robots or automated systems are introduced to unknown and dynamic environments where they are required to cope with disturbances, unmodeled dynamics, and parametric uncertainties. In this paper, we demonstrate the capabilities of a combined adaptive control and iterative learning control (ILC) framework to achieve high-precision trajectory tracking in the presence of unknown and changing disturbances. The adaptive controller makes the system behave close to a reference model; however, it does not guarantee that perfect trajectory tracking is achieved, while ILC improves trajectory tracking performance based on previous iterations. The combined framework in this paper uses adaptive control as an underlying controller that achieves a robust and repeatable behavior, while the ILC acts as a high-level adaptation scheme that mainly compensates for systematic tracking errors. We illustrate that this framework enables transfer learning between dynamically different systems, where learned experience of one system can be shown to be beneficial for another different system. Experimental results with two different quadrotors show the superior performance of the combined -ILC framework compared with approaches using ILC with an underlying proportional-derivative controller or proportional-integral-derivative controller. Results highlight that our -ILC framework can achieve high-precision trajectory tracking when unknown and changing disturbances are present and can achieve transfer of learned experience between dynamically different systems. Moreover, our approach is able to achieve precise trajectory tracking in the first attempt when the initial input is generated based on the reference model of the adaptive controller.
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Cites work
- \({\mathcal L}_1\) adaptive control theory. Guaranteed robustness with fast adaption.
- Bounded Integral Control of Input-to-State Practically Stable Nonlinear Systems to Guarantee Closed-Loop Stability
- Model error concepts in control design
- Model-based iterative learning control with a quadratic criterion for time-varying linear systems
- Numerical Optimization
- On the design of ILC algorithms using optimization
- Robust stability of systems with integral control
Cited in
(3)- Editorial for the special issue on learning-based adaptive control: theory and applications
- Robust adaptive model predictive control for guaranteed fast and accurate stabilization in the presence of model errors
- Robust iterative learning control of continuous delayed singular multi-agent systems with polytopic uncertainty and non-identical initial conditions: LMI approach
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