Realization of precise force control using both 2-DOF control and learning

Abstract

Recently, the two-degree-of-freedom (2DOF) control has been widely recognized to be efficient. The major merit of the 2DOF control is the independency between the tracking performance and the feedback performance. However, there is a limitation for the tracking performance in the 2DOF control system. In this paper, we propose new control system which consists of the conventional 2DOF controller and the learning controller. The role of the learning controller is to realize high tracking performance, which can not be realized only by the 2DOF controller. the learning controller can be designed only by using infomation of a specification for the 2DOF controller and it does not need information of the controlled plant. We show some experimental results to verify