On Using a Support Vector Machine in Learning Feed-Forward Control

Kruif de, Bas J. and Vries de, Theo J.A. (2001) On Using a Support Vector Machine in Learning Feed-Forward Control. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001, 8-12 jul 2001, Como, Italy.

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Abstract:	For mechatronic motion systems, the performance increases significantly if, besides feedback control, also feed-forward control is used. This feed-forward part should contain the (stable part of the) inverse of the plant. This inverse is difficult to obtain if non-linear dynamics are present. To overcome this problem, learning feed-forward control can be applied. The properties of the learning mechanism are of importance in this setting. In the paper, a support vector machine is proposed as the learning mechanism. It is shown that this mechanism has several advantages over other learning techniques when applied to learning feed-forward control. The method is tested with simulations
Item Type:	Conference or Workshop Item
Copyright:	©2001 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/42174
Official URL:	http://dx.doi.org/10.1109/AIM.2001.936466
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