Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Research for Improvement of Iterative Precision of the Vertical Multiple Dynamic System

수직다물체시스템의 반복정밀도 향상에 관한 연구

  • 이수철 (대구대학교 자동차산업기계공학부) ;
  • 박석순 (영남대학교 대학원)
  • Published : 2004.05.01
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Abstract

An extension of interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances is presented. The teaming control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of loaming control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot moving on the vertical plane with the controller for each link acting independently. The basic result of the paper is to show that stability and iterative precision of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized teaming in the coupled system, provided that the sample time in the digital teaming controller is sufficiently short. The methods of teaming system are shown up for the iterative precision of each link.

Keywords

References

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