34,576 research outputs found
Learning for Advanced Motion Control
Iterative Learning Control (ILC) can achieve perfect tracking performance for
mechatronic systems. The aim of this paper is to present an ILC design tutorial
for industrial mechatronic systems. First, a preliminary analysis reveals the
potential performance improvement of ILC prior to its actual implementation.
Second, a frequency domain approach is presented, where fast learning is
achieved through noncausal model inversion, and safe and robust learning is
achieved by employing a contraction mapping theorem in conjunction with
nonparametric frequency response functions. The approach is demonstrated on a
desktop printer. Finally, a detailed analysis of industrial motion systems
leads to several shortcomings that obstruct the widespread implementation of
ILC algorithms. An overview of recently developed algorithms, including
extensions using machine learning algorithms, is outlined that are aimed to
facilitate broad industrial deployment.Comment: 8 pages, 15 figures, IEEE 16th International Workshop on Advanced
Motion Control, 202
Extremum Seeking-based Iterative Learning Linear MPC
In this work we study the problem of adaptive MPC for linear time-invariant
uncertain models. We assume linear models with parametric uncertainties, and
propose an iterative multi-variable extremum seeking (MES)-based learning MPC
algorithm to learn on-line the uncertain parameters and update the MPC model.
We show the effectiveness of this algorithm on a DC servo motor control
example.Comment: To appear at the IEEE MSC 201
Learning parametric dictionaries for graph signals
In sparse signal representation, the choice of a dictionary often involves a
tradeoff between two desirable properties -- the ability to adapt to specific
signal data and a fast implementation of the dictionary. To sparsely represent
signals residing on weighted graphs, an additional design challenge is to
incorporate the intrinsic geometric structure of the irregular data domain into
the atoms of the dictionary. In this work, we propose a parametric dictionary
learning algorithm to design data-adapted, structured dictionaries that
sparsely represent graph signals. In particular, we model graph signals as
combinations of overlapping local patterns. We impose the constraint that each
dictionary is a concatenation of subdictionaries, with each subdictionary being
a polynomial of the graph Laplacian matrix, representing a single pattern
translated to different areas of the graph. The learning algorithm adapts the
patterns to a training set of graph signals. Experimental results on both
synthetic and real datasets demonstrate that the dictionaries learned by the
proposed algorithm are competitive with and often better than unstructured
dictionaries learned by state-of-the-art numerical learning algorithms in terms
of sparse approximation of graph signals. In contrast to the unstructured
dictionaries, however, the dictionaries learned by the proposed algorithm
feature localized atoms and can be implemented in a computationally efficient
manner in signal processing tasks such as compression, denoising, and
classification
Nonlinear system-identification of the filling phase of a wet-clutch system
The work presented illustrates how the choice of input perturbation signal and experimental design improves the derived model of a nonlinear system, in particular the dynamics of a wet-clutch system. The relationship between the applied input current signal and resulting output pressure in the filling phase of the clutch is established based on bandlimited periodic signals applied at different current operating points and signals approximating the desired filling current signal. A polynomial nonlinear state space model is estimated and validated over a range of measurements and yields better fits over a linear model, while the performance of either model depends on the perturbation signal used for model estimation
Parametric dictionary design for sparse coding
Abstract—This paper introduces a new dictionary design method for sparse coding of a class of signals. It has been shown that one can sparsely approximate some natural signals using an overcomplete set of parametric functions, e.g. [1], [2]. A problem in using these parametric dictionaries is how to choose the parameters. In practice these parameters have been chosen by an expert or through a set of experiments. In the sparse approximation context, it has been shown that an incoherent dictionary is appropriate for the sparse approximation methods. In this paper we first characterize the dictionary design problem, subject to a constraint on the dictionary. Then we briefly explain that equiangular tight frames have minimum coherence. The complexity of the problem does not allow it to be solved exactly. We introduce a practical method to approximately solve it. Some experiments show the advantages one gets by using these dictionaries
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