서지주요정보
궤환을 갖는 반복 학습 제어 알고리즘과 그 응용에 관한 연구 = A study on iterative learning control algorithms with feedback and its applications
서명 / 저자 궤환을 갖는 반복 학습 제어 알고리즘과 그 응용에 관한 연구 = A study on iterative learning control algorithms with feedback and its applications / 이종운.
저자명 이종운 ; Lee, Jong-Woon
발행사항 [대전 : 한국과학기술원, 1993].
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8003346

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 93013

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초록정보

Industrial processes are, in many cases, difficult to model and control due to variable loads and nonlinearities. When the tasks of the processes are repetitive as can be seen in the pick-and-place, welding, etc. Robot operation, however, some of the difficulties due to uncertain dynamic models may be overcome if the controller is smartly designed as a control method called iterative learning control(ILC). In a way similar to a human being learning a desired motion pattern through repeated trials, the ILC system is able to acquire dynamically real-time data of the controlled system during each trial and make changes accordingly to the control input signal for each successive repetitive operation. However, the conventional ILC has several deficiencies such as lack of robustness, lack of the knowledge representation and lack of proper model which describes learning process as well as the system dynamics. To solve part of these deficiencies, three ILC algorithms are proposed in this thesis. I. A learning control algorithm with feedback based on the Fourier series approximation of the system input/output(I/O) signals is proposed for the continuous time linear systems, knowing that the inverse model of the system is one of the most appropriate functions to construct an iterative learning controller. The convergence condition of the proposed algorithm is provided and the existence and uniqueness of the desired control input is discussed. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. It is shown that, by adding a feedback term in learning control algorithm, robustness and convergence speed can be improved. II. A learning control algorithm based on Fourier series approximation of the system signals is extended to the continuous time nonlinear systems, knowing that any function in $L_2$ [O,T] space can be represented as Fourier series. The convergence condition of the proposed algorithm is provided and it is shown that robot manipulators with a proper feedback satisfy the given assumptions. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. III. An iterative learning control algorithm based on the 2-D system theory with feedback term is proposed for a class of unknown discrete-time linear systems and a sufficient condition for convergency is provided on the approximated space. The proposed algorithm has been successfully applied for the periodic disturbance rejection which occurs due to the imperfect mechanical assembly process or magnet inhomogeneity of motors for a Video Cassette Recorder (VCR) servo system.

서지기타정보

서지기타정보
청구기호 {DEE 93013
형태사항 viii, 81 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : 이차원 시스템의 안정성 이론
저자명의 영문표기 : Jong-Woon Lee
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 68-75
주제 Fourier series.
Feedback control systems.
Interative methods (Mathematics)
Learning models (Stochastic processes)
피드백 제어. --과학기술용어시소러스
학습 제어. --과학기술용어시소러스
Fourier 급수. --과학기술용어시소러스
학습 모델. --과학기술용어시소러스
알고리즘. --과학기술용어시소러스
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