Learning control schemes for reference tracking of under-actuated systems

Tuesday, August 9th, 2022

Learning control systems can significantly improve the tracking performance and robustness of repetitive systems. Specifically, the iterative learning control (ILC), which follows the concept of learn from mistakes, can offer precise trajectory tracking through adaptive framework. This talk will explain the current cycle feedback ILC for a class of under-actuated system and analyze the potentials of augmenting ILC with feedback controller through hardware in loop (HIL) testing. Moreover, a brief overview on the design of reinforcement learning control for reference tracking and vibration suppression of rotary flexible link will be presented.  

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Presenter’s Bio

Vinodh Kumar E received PhD in Electrical Engineering from Anna University in 2014. He received B.E in Electrical and Electronics Engineering from Madras University, and M.E in Control Systems from Anna University in 2004 and 2007, respectively. He joined Vellore Institute of Technology in 2015 and is currently an Associate professor with school of Electrical Engineering, VIT, Vellore. His research interests include optimal control, adaptive control and state estimation.