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이산시간 궤환 시스템에 대한 반복학습제어 및 직접구동형 SCARA 로보트에의 응용
여성원,김재오,황건,김성현,김도현,안현식,Yeo, Seong-Won,Kim, Jae-Oh,Hwang, Gun,Kim, Sung-Hyun,Kim, Do-Hyun,Ahn, Hyun-Sik 대한전자공학회 1997 電子工學會論文誌, S Vol.s34 No.7
In this paper, we propose a reference input odification-type iterative learning control law for a class of discrete-time nonlinear systems and prove the convergence of the output error. We can get the high-precision in case of the trajectroy control when the proposed control law is properly combined with a feedback controller, and we can easily implement the learning control law compared to the control input modification-type learning control law. To show the validity and the convergence perfodrmance of the proposed control law, we perform experimentations on the trajectroy control and rejection of periodic disturbance for a 2-axis SCARA-type direct drive robot.