(Dr. Steve Dickerson, advisor)

"Feed-Forward Modification For Modified Trajectories In Non-Linear Systems"

Abstract

Often in a control system, a device follows a trajectory that is only slightly different from the previous trajectory. This thesis deals with how can we use a previously learned feed-forward effort as a basis to calculate a new feed-forward / trajectory pair will be examined. The systems examined will be a single mass and a two-mass-spring in the linear case, with coulomb friction, and torque-ripple/cogging.