Realization of precise force control using both 2-DOF control and learning
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- Yubai Kazuhiro
- Nagoya University
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- Itabashi Kaiji
- Nagoya University
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- Suzuki Tatuya
- Nagoya University
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- Okuma Shigeru
- Nagoya University
Bibliographic Information
- Other Title
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- 2自由度制御と学習制御を組み合わせた高精度力制御の実現
- 2ジユウド セイギョ ト ガクシュウ セイギョ オ クミアワセタ コウ セイド
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Abstract
Recently, the two-degree-of-freedom (2DOF) control has been widely recognized to be efficient. The major merit of the 2DOF control is the independency between the tracking performance and the feedback performance. However, there is a limitation for the tracking performance in the 2DOF control system. In this paper, we propose new control system which consists of the conventional 2DOF controller and the learning controller. The role of the learning controller is to realize high tracking performance, which can not be realized only by the 2DOF controller. the learning controller can be designed only by using infomation of a specification for the 2DOF controller and it does not need information of the controlled plant. We show some experimental results to verify
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 117 (9), 1099-1105, 1997
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204659439872
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- NII Article ID
- 10002725173
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 4284702
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed