제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An improvement of simple adaptive control method by use of derivative action and its application to DD serve system

  • Ohtomo, A. (Kumamoto Technopolis Foundation Applied Electronic Research Center 208-10 Tabaru, Mashiki-machi, Kamimashiki-gun, Kumamoto 861-22, Japan) ;
  • Iwai, Z. (Department of Mechanical Engineering, Kumamoto University) ;
  • Fukuda, H. (Department of Mechanical Engineering, Kumamoto University) ;
  • Mizumoto-I. (Department of Mechanical Engineering, Kumamoto University) ;
  • Dozono, H. (Department of Mechanical Engineering, Kumamoto University)
  • Published : 1992.10.01
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Abstract

The simple adaptive control(SAC) method has attracted attention for interest of the simple structure of its adaptive controller. We establish that the introduction of output derivative action to the original SAC system definitely improves the response characteristic of the control system. The effect of such an introduction is confirmed through experimental results by applying the method to a servo control system using a direct drive (DD) motor.

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