Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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High-Accuracy Motion Control of Linear Synchronous Motor Using Reinforcement Learning

강화학습에 의한 선형동기 모터의 고정밀 제어

  • Received : 2011.01.25
  • Accepted : 2011.09.05
  • Published : 2011.12.01
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Abstract

A PID-feedforward controller and Robust Internal-loop Compensator (RIC) based on reinforcement learning using random variable sequences are provided to auto-tune parameters for each controller in the high-precision position control of PMLSM (Permanent Magnet Linear Synchronous Motor). Experiments prove the well-tuned controller could be reduced up to one-fifth level of tracking errors before learning by reinforcement learning. The RIC compared to the PID-feedforward controller showed approximately twice the performance in reducing tracking error and disturbance rejection.

Keywords

References

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