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A study on Indirect Adaptive Decentralized Learning Control of the Vertical Multiple Dynamic System  

Lee, Soo-Cheol (School of Automotive, Industrial and Mechanical Engineering, Daegu University)
Park, Seok-Sun (Graduate School of Mechanical Engineering, Yeungnam University)
Lee, Jeh-Won (School of Mechanical Engineering, Yeungnam University)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.7, no.1, 2006 , pp. 62-66 More about this Journal
Abstract
The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the learning control field was learning in robots doing repetitive tasks such as an assembly line works. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown for the iterative precision of each link.
Keywords
Iterative precision; Indirect adaptive decentralized learning control; Learning control gain; Vertical multiple dynamic system;
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