計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
2-Delay入力制御を用いた離散時間仮想フィードバック誤差学習
野口 慎
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ジャーナル フリー

2015 年 51 巻 2 号 p. 73-82

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In this paper, a new learning scheme named Discrete Time Virtual Feedback Error Learning (DT-VFEL) is proposed. Even if the controlled systems with high relative degree are minimum phase continuous-time system, by sampling at a fast rate, non-minimum phase discrete-time systems can often appear. Therefore, it is difficult to extend VFEL from the continuous-time version to the discrete-time one, because the stable inverse system can not be learned in conventional Discrete Time Feedback Error Learning (DTFEL) schemes. To overcome the drawback, 2-Delay input control is applied. And variable-gain-type learning law is adopted to shorten the time of learning. Finally, the paper shows that the tracking error converges to zero under a PE condition of the discrete-time version, and verifies its effectiveness based on simulation.

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© 2015 公益社団法人 計測自動制御学会
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