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

Lee Soo Cheol (대구대학교 자동차산업기계공학과)
Park Seok Sun (영남대학교 기계공학과 대학원)
Lee Jae Won (영남대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.4, 2005 , pp. 92-98 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 teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. 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 up for the iterative precision of each link.
Keywords
Iterative precision; Indirect adaptive decentralized teaming control; Learning control gain; Vertical multiple dynamic system;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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