전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제31B권9호
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- Pages.57-66
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- 1994
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- 1016-135X(pISSN)
반복학습기법을 이용한 서코모터용 위치센서오차의 자동 보정
Automatic Error Correction of Position Sensors for Servo Motors via Iterative Learning
- 한석희 (서울대학교 제어계측공학과) ;
- 하태균 (삼성전자 정보통신연구소) ;
-
허헌
(금성사 영상미디어 연구소) ;
- 하인중 (서울대학교 제어계측공학과) ;
- 고명삼 (서울대학교 제어계측공학과)
- Han, Seok-Hee (Dept. of Cont. & Inst. Eng., Seoul Nat'l Univ.) ;
- Ha, Tae-Kyoon (Samsung Electronics Telecommunication R&D Center) ;
-
Huh, Heon
(Goldstar Co., Ltd. Image & Media Lab.) ;
- Ha, In-Joong (Dept. of Cont. & Inst. Eng., Seoul Nat'l Univ.) ;
- Ko, Myoung-Sam (Dept. of Cont. & Inst. Eng., Seoul Nat'l Univ.)
- 발행 : 1994.09.01
초록
In this paper, we present an iterative learning method of compensating for position sensor error. The previously known compensation algorithms need a special perfect position sensor or a priori information about error sources, while ours does not. to our best knowledge, any iterative learning approach has not been taken for sensor error compensation. Furthermore, our iterativelearning algorithm does not have the drawbacks of the existing interativelearning control theories. To be more specivic, our algorithm learns an uncertain function itself rather than its special time-trajectory and does not reuquest the derivatives of measurement signals. Moreover, it does not require the learning system to start with the same initial condition for all iterations. To illuminate the generality and practical use of our algorithm, we give the rigorous proof for its convergence and some experimental results.
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