Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study on Indirect Adaptive Decentralized Learning Control of the Vertical Multiple Dynamic System

수직다물체시스템의 간접적응형 분산학습제어에 관한 연구

  • 이수철 (대구대학교 자동차산업기계공학과) ;
  • 박석순 (영남대학교 기계공학과 대학원) ;
  • 이재원 (영남대학교 기계공학과)
  • Published : 2005.04.01
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Abstract

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.

Keywords

References

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