A comparison of classical and learning controllers

About: This article is published in IFAC Proceedings Volumes.The article was published on 2011-01-01 and is currently open access. It has received 4 citations till now. The article focuses on the topics: Open-loop controller & Control theory.

Figures

Table 1. Frequency - RMS tracking error (mm,deg)

Table 4. Parameter Error and Friction - RMS tracking error (mm,deg)

Table 2. Payload - RMS tracking error (mm,deg)

Table 3. Parameter Error - RMS tracking error (mm,deg)

Fig. 2. PE Trajectory - 5% inertia and friction error

Fig. 1. Position Tracking Error at 0.25Hz

Frequently asked questions

Q1. What have the authors stated for future works in "A comparison of classical and learning controllers" ?

Future studies will involve experimental validation on physical robots as well as incorporating a-priori knowledge of the dynamic model of the system to improve performance of learning methods outside of the trained regions. 

Q2. What are the contributions mentioned in the paper "A comparison of classical and learning controllers" ?

This paper focuses on evaluating Locally Weighted Projection Regression ( LWPR ) as an alternative control method to traditional model-based control schemes.