ノイズに対しロバストなpre-inverse適応システムとモーター制御への応用

概要

論文の詳細を見る
In general, the adaptive system using the structure in which an adaptive filter is placed before the unknown system to estimate the inverse transfer function of the unknown system is called pre-inverse adaptive system. The equalizing type adaptive system that the weights of the adaptive transversal filter inserted after the unknown system are copied to the transversal filter inserted before the system is the representative example. The problem of this system is that the convergence value has the bias error since the adaptive parameters are updated to the direction where the estimation error including the noise was minimized. In this paper we consider a noise free equalizing type adaptive algorithm and its application to the adaptive control of the motor. The convergence of the control system is guaranteed under the assumption of the uncorrelated property of the noise, disturbance and the command input. Finally, these results of theoretical consideration are verified by computer simulation.
社団法人電気学会の論文