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High-Accuracy Motion Control of Linear Synchronous Motor Using Reinforcement Learning  

Jeong, Seong-Hyen (Korea Textile Machinery Institute)
Park, Jung-Il (Department of Electronic Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.28, no.12, 2011 , pp. 1379-1387 More about this Journal
Abstract
A PID-feedforward controller and Robust Internal-loop Compensator (RIC) based on reinforcement learning using random variable sequences are provided to auto-tune parameters for each controller in the high-precision position control of PMLSM (Permanent Magnet Linear Synchronous Motor). Experiments prove the well-tuned controller could be reduced up to one-fifth level of tracking errors before learning by reinforcement learning. The RIC compared to the PID-feedforward controller showed approximately twice the performance in reducing tracking error and disturbance rejection.
Keywords
Robust Internal-loop Compensator; Disturbance Observer; Reinforcement Learning; Linear Synchronous Motor;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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