Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System Article Swipe
Florian Köpf
,
Sean Kille
,
Jairo Inga
,
Sören Hohmann
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.23919/acc50511.2021.9482629
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.23919/acc50511.2021.9482629
While many theoretical works concerning Adaptive Dynamic Programming (ADP) have been proposed, application results are scarce. Therefore, we design an ADP-based optimal trajectory tracking controller and apply it to a large-scale ball-on-plate system. Our proposed method incorporates an approximated reference trajectory instead of using setpoint tracking and allows to automatically compensate for constant offset terms. Due to the off-policy characteristics of the algorithm, the method requires only a small amount of measured data to train the controller. Our experimental results show that this tracking mechanism significantly reduces the control cost compared to setpoint controllers. Furthermore, a comparison with a model-based optimal controller highlights the benefits of our model-free data-based ADP tracking controller, where no system model and manual tuning are required but the controller is tuned automatically using measured data.
Related Topics
Concepts
Setpoint
Control theory (sociology)
Offset (computer science)
Trajectory
Computer science
Controller (irrigation)
Tracking (education)
Ball (mathematics)
Optimal control
PID controller
Control engineering
Engineering
Mathematics
Mathematical optimization
Control (management)
Artificial intelligence
Temperature control
Psychology
Biology
Pedagogy
Astronomy
Agronomy
Mathematical analysis
Physics
Programming language
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.23919/acc50511.2021.9482629
- OA Status
- green
- Cited By
- 3
- References
- 25
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3094086980
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3094086980Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.23919/acc50511.2021.9482629Digital Object Identifier
- Title
-
Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate SystemWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2021Year of publication
- Publication date
-
2021-05-25Full publication date if available
- Authors
-
Florian Köpf, Sean Kille, Jairo Inga, Sören HohmannList of authors in order
- Landing page
-
https://doi.org/10.23919/acc50511.2021.9482629Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://export.arxiv.org/pdf/2010.13486Direct OA link when available
- Concepts
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Setpoint, Control theory (sociology), Offset (computer science), Trajectory, Computer science, Controller (irrigation), Tracking (education), Ball (mathematics), Optimal control, PID controller, Control engineering, Engineering, Mathematics, Mathematical optimization, Control (management), Artificial intelligence, Temperature control, Psychology, Biology, Pedagogy, Astronomy, Agronomy, Mathematical analysis, Physics, Programming languageTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 2, 2021: 1Per-year citation counts (last 5 years)
- References (count)
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25Number of works referenced by this work
- Related works (count)
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20Other works algorithmically related by OpenAlex
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