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Realization of precise force control using both 2‐DOF control and learning control
Author(s) -
Yubai Kazuhiro,
Itabashi Kaiji,
Suzuki Tatsuya,
Okuma Shigeru
Publication year - 1999
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/(sici)1520-6416(199909)128:4<102::aid-eej12>3.0.co;2-q
Subject(s) - control theory (sociology) , controller (irrigation) , control engineering , control system , realization (probability) , control (management) , computer science , tracking (education) , engineering , artificial intelligence , mathematics , psychology , pedagogy , statistics , electrical engineering , agronomy , biology
Recently, two degrees‐of‐freedom (2DOF) control has been widely recognized to be efficient. The major merit of 2DOF control is independence between tracking performance and the feedback performance. However, there is a limitation on tracking performance in the 2DOF control system. In this paper, we propose a new control system that consists of a conventional 2DOF controller and a learning controller. The role of the learning controller is to realize high tracking performance, which cannot be realized alone by the 2DOF controller. The learning controller can be designed by using only information specifying a 2DOF controller, and it does not need information about the controlled plant. We show some experimental results to verify the effectiveness of the proposed system. © 1999 Scripta Technica, Electr Eng Jpn, 128(4): 102–110, 1999