http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Recursive Model Free Controller: Application to Friction Compensation and Trajectory Tracking
Haoping Wang,Christian Vasseur,Yang Tian,Vladan Koncar,Nicolaï Christov 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.6
In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.