• Journal of the Korean Institute of Intelligent Systems
• /
• v.8 no.3
• /
• pp.9-15
• /
• 1998

This paper presents an adaptive learning control method for unknown nonlinear systems by combining neuro control and iterative learning control techniques. In the present control system, an iterative learning controller (ILC) is used for a process of short term memory involved in a temporary adaptive and learning manipulation and a short term storage of a specific temporary action. The learning gain of the iterative learning law is estimated by using a neural network for an unknown system except relative degrees. The control informations obtained by ILC are transferred to a long term memory-based feedforward neuro controller (FNC) and accumulated in it in addition to the previously stored infonnations. This scheme is applied to a two link robot manipulator through simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.230-235
• /
• 1992

We propose a method of generating data to train a neural network controller. The data can be prepared directly by an iterative learning technique which repeatedly adjusts the control input to improve the tracking quality of the desired trajectory. Instead of storing control input data in memory as in iterative learning control, the neural network stores the mapping between the control input and the desired output. We apply this concept to the trajectory control of a two link robot manipulator with a feedforward neural network controller and a feedback linear controller. Simulation results show good generalization of the neural network controller.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.10
• /
• pp.1098-1107
• /
• 1990

Decentralized iterative learning control methods are presented for a class of large scale interconnected linear dynamic systems, in which iterative learning controller in each subsystem operates on its local subsystem exclusively with no exchange of information between subsystems. Suffcient conditions for convergence of the algorithms are given and numerical examples are illustrated to show the validity of the algorithms. In particular, the algorithms are useful for the systems having large uncertainty of inter-connected terms.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1483-1486
• /
• 2002

In this paper, a new scheme of iterative loaming control of a robot manipulator is presented. The proposed method uses a fuzzy sliding mode controller(FSMC), which is designed based on the similarity between the fuzzy logic control(FLC) and the sliding mode control(SMC), for the feedback. With this, the proposed method makes possible fDr fast iteration and has advantages that no linear approximation is used for the derivation of the learning law or in the stability proof Full proof of the convergence of the fuzzy sliding base learning scheme Is given.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.05a
• /
• pp.855-861
• /
• 2002

This paper demonstrates the reconstruction of input signals from only the measured signal for the simulation and endurance test of automobiles. The aim of this research is concerned with input signal reconstruction using various iterative teaming algorithm under the condition of system characteristics. From a linear to nonlinear systems which provides the output signals are estimated in this algorithm which is based on the frequency domain. Our concerns are that the algorithm can assure an acceptable stability and convergence compared to the ordinary iterative learning algorithm. As a practical application, a f car model with nonlinear damper system is used to verify the restoration of input signal especially with a modified iterative loaming algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.3
• /
• pp.165-173
• /
• 1996

It is not desirable to have too large control input in control systems, because there are usually a limitation for the input magnitude and cost for the input energy. Previous papers in the iterative learning control did not considered on these points. In this paper, an iterative learning control method is proposed for a class of nonlinear systems with consideration on input magnitude by adopting a concept of cost function consisting of the output error and the input magnitude in quadratic form. We proposed a new input update law with an input penalty function. If we choose a reasonable input penalty function, the two control objectives, good command following and small input energy, can be achieved. The characteristics of the proposed method are shown in the simulation examples.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.2
• /
• pp.194-203
• /
• 2008

Iterative learning control (ILC) is a simple and effective method for the control of systems that perform the same task repetitively. ILC algorithm uses the repetitiveness of the task to track the desired trajectory. In this paper, we propose a PID (proportional plus integral and derivative) type ILC update law for control discrete-time single input single-output (SISO) linear time-invariant (LTI) systems, performing repetitive tasks. In this approach, the input of controlled system in current cycle is modified by applying the PID strategy on the error achieved between the system output and the desired trajectory in a last previous iteration. The convergence of the presented scheme is analyzed and its convergence condition is obtained in terms of the PID coefficients. An optimal design method is proposed to determine the PID coefficients. It is also shown that under some given conditions, this optimal iterative learning controller can guarantee the monotonic convergence. An illustrative example is given to demonstrate the effectiveness of the proposed technique.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.2
• /
• pp.171-179
• /
• 2008

This paper addresses the synthesis of an iterative learning controller for a class of linear systems with norm-bounded parameter uncertainties. We take into account an iterative learning algorithm with current cycle feedback in order to achieve both robust convergence and robust stability. The synthesis problem of the developed iterative learning control (ILC) system is reformulated as the ${\gamma}$-suboptimal $H_{\infty}$ control problem via the linear fractional transformation (LFT). A sufficient convergence condition of the ILC system is presented in terms of linear matrix inequalities (LMIs). Furthermore, the ILC system with fast convergence rate is constructed using a convex optimization technique with LMI constraints. The simulation results demonstrate the effectiveness of the proposed method.

• Journal of Platform Technology
• /
• v.6 no.4
• /
• pp.34-40
• /
• 2018

Currently, artificial neural networks perform well for a single task, but NN have the problem of forgetting previous learning by learning other kinds of tasks. This is called catastrophic forgetting. To use of artificial neural networks in general purpose this should be solved. There are many efforts to overcome catastrophic forgetting. However, even though there was a lot of effort, it did not completely overcome the catastrophic forgetting. In this paper, we propose sequential iterative learning using core concepts used in elastic weight consolidation (EWC). The experiment was performed to reproduce catastrophic forgetting phenomenon using EMNIST data set which extended MNIST, which is widely used for artificial neural network learning, and overcome it through sequential iterative learning.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.1097-1112
• /
• 1989

An iterative learning control scheme is incorporated to the computed torque method as a means to enhance the accuracy and the flexibility. A learning rule is constructed by utilizing a gradient descent algorithm and data compressing techniques are illustrated. Computer simulation results show a good performance of the scheme under a relatively high speed and a heavy payload condition.