部分的に既知な多変数系の適応制御

概要

論文の詳細を見る
In An adaptive control system, parameters of the controlled system are generally estimated assuming that all of the parameters are unknown. In that case, especially in a multi-input multi-output system, parameters increase greatly in number, and it takes substantial time to estimate them. Certain physical elements are often known, and if the information can be used a priori, the number of estimated parameters decreases and the speed of convergence of estimation then becomes faster. In this paper, a priori knowledge of the multi-input multi-output system is classified into three types, and system modeling is done so as to explicitly express a priori information of the controlled system. This method is applied to control a SCARA type robot manipulator. The simulation results show its usefulness.
一般社団法人日本機械学会の論文
1991-12-25