• 대한전기학회논문지:시스템및제어부문D
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• 제54권2호
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• pp.76-80
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• 2005

In this paper, a Direct Learning Control (DLC) method is proposed for linear feedback systems to improve the tracking performance when the task of the control system is repetitive. DLC can generate the desired control input directly from the previously learned control inputs corresponding to other output trajectories. It is assumed that all the desired output functions given to the system have some relations called proportionality and it is shown by mathematical analysis that DLC can be utilized to genera additional control efforts for the perfect tracking. To show the validity and tracking performance of the proposed method, some simulations are performed for the tracking control of a linear system with a PI controller.

• International Journal of Precision Engineering and Manufacturing
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• 제7권1호
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• pp.62-66
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• 2006

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.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.194-203
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• 2008

Iterative learning control (ILC) is a simple and effective method for the control of systems that perform the same task repetitively. ILC algorithm uses the repetitiveness of the task to track the desired trajectory. In this paper, we propose a PID (proportional plus integral and derivative) type ILC update law for control discrete-time single input single-output (SISO) linear time-invariant (LTI) systems, performing repetitive tasks. In this approach, the input of controlled system in current cycle is modified by applying the PID strategy on the error achieved between the system output and the desired trajectory in a last previous iteration. The convergence of the presented scheme is analyzed and its convergence condition is obtained in terms of the PID coefficients. An optimal design method is proposed to determine the PID coefficients. It is also shown that under some given conditions, this optimal iterative learning controller can guarantee the monotonic convergence. An illustrative example is given to demonstrate the effectiveness of the proposed technique.

• 한국정보시스템학회:학술대회논문집
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• 한국정보시스템학회 1996년도 추계학술발표회 발표논문집
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• pp.217-227
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• 1996

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performin this specific task. In a previous work［6］, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification ad control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field was learning 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. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
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• pp.217-227
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• 1996

The new filed of 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[6], authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controller indecentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an asssembly 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. The resultof the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample tie in the digital learning controller is sufficiently short.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.99-102
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• 1996

A novel iterative learning control scheme comprising a unique feedforward learning controller and a disturbance observer is proposed. Disturbance observer compensates disturbance due to parameter variations, mechanical nonlinearities, unmodeled dynamics and external disturbances. The convergence and robustness of the proposed controller is proved by the method based on Lyapunov stability theorem. The results of numerical simulation are shown to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.299-302
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• 1996

A control algorithm is proposed for nonlinear multi-input multi-output(MIMO) batch processes by combining quadratic iterative learning control(Q-ILC) with model predictive control(MPC). Both controls are designed based on output feedback and Kalman filter is incorporated for state estimation. Novelty of the proposed algorithm lies in the facts that, unlike feedback-only control, unknown sustained disturbances which are repeated over batches can be completely rejected and asymptotically perfect tracking is possible for zero random disturbance case even with uncertain process model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.50.4-50
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• 2001

In this paper, exploiting repetitive properties, a constrained digital regulation technique for first order hyperbolic PDE systems is proposed that guarantees the stability and performance of the closed loop system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.96-100
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• 2003

In this paper, a DLC method is proposed for linear feedback systems to improve the tracking performance when the task of the system is repetitive. DLC can generate the desired control input directly from the previously learned control inputs corresponding to other output trajectories. It is assumed that all the desired output functions considered in this paper have some relations called proportionality and it is shown by mathematical analysis that DLC can be utilized to generate additional control efforts for the perfect tracking. To show the validity and tracking performance of the proposed method, some simulations are performed for the tracking control of a linear system with a PI controller.

• 한국정밀공학회지
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• 제22권4호
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• pp.92-98
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• 2005

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.