제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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- Pages.83-85
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- 1986
적응 알고리즘의 오차 수렴속도와 수렴성
Error convergence speed of the adaptive algorithm
초록
The error differential equations which are derived by using the first error model are uniformly asymptotial stable if the input is bounded and sufficiently rich. In the adaptive control, the speed of convergence of system output or parameter error in such cases is of both practical and theoretical interest. In this paper, the adaptive algorithms(Gradient algorithm, Intergral algorithm) are discussed from the point of view of speed convergence and the modification of adaptive law for prohibition of overadaptation is discussed. The result is compared among this algorithms and the adaptive gain is choosed by this result(the speed of convergence).
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