サーボモータの適応制御
1988 年 59 巻 3 号 p. 162-170
詳細
1988 年 59 巻 3 号 p. 162-170
A practical simple discrete time adaptive control system for servo motor positioning system is presented. It is assumed that the controlled system has characteristics with unknown inertia load and disturbance force (including friction etc.).
The proposed method is applied to the 2nd and 3rd axis of robot HA-100. It is confirmed that this adaptive controller has high performance in case the modeling error is small.
