한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 1996년도 추계학술대회 논문
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- Pages.6-10
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- 1996
An Overview of Learning Control in Robot Applications
- Ryu, Yeong-Soon (Mando Institute of Production Technology 120 Bakdal-dong An-yang Kyonggido Korea)
- 발행 : 1996.10.01
초록
This paper presents an overview of research results obtained by the authors in a series of publications. Methods are developed both for time-varying and time-invariant for linear and nonlinear. for time domain and frequency domain . and for discrete-time and continuous-time systems. Among the topics presented are: 1. Learning control based on integral control concepts applied in the repetition domain. 2. New algorithms that give improved transient response of the indirect adaptive control ideas. 4. Direct model reference learning control. 5 . Learning control based frequency domain. 6. Use of neural networks in learning control. 7. Decentralized learning controllers. These learning algorithms apply to robot control. The decentralized learning control laws are important in such applications becaused of the usual robot decentralized controller structured.
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