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Automatic Error Correction of Position Sensors for Servo Motors via Iterative Learning
한석희,하태균,허헌,하인중,고명삼,Han, Seok-Hee,Ha, Tae-Kyoon,Huh, Heon,Ha, In-Joong,Ko, Myoung-Sam The Institute of Electronics and Information Engin 1994 전자공학회논문지-B Vol.b31 No.9
In this paper, we present an iterative learning method of compensating for position sensor error. The previously known compensation algorithms need a special perfect position sensor or a priori information about error sources, while ours does not. to our best knowledge, any iterative learning approach has not been taken for sensor error compensation. Furthermore, our iterativelearning algorithm does not have the drawbacks of the existing interativelearning control theories. To be more specivic, our algorithm learns an uncertain function itself rather than its special time-trajectory and does not reuquest the derivatives of measurement signals. Moreover, it does not require the learning system to start with the same initial condition for all iterations. To illuminate the generality and practical use of our algorithm, we give the rigorous proof for its convergence and some experimental results.