Title:
LEARNING ADAPTIVE CONTROL DEVICE
Document Type and Number:
Japanese Patent JP3872457
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a learning adaptive control device which guarantees approximate stability as to the nonlinear secondary dynamics of one input-one output.
SOLUTION: The learning adaptive control device 32 of a one input-one output nonlinear secondary system using state feedback includes a feedback controller 42 for a position gain Kp and a speed gain KD; a function approximator 46 which updates unknown parameters by using values obtained when predetermined operations are performed on a track follow error vector e; and computing parts 44, 48 for generating an input u to the subject 30 of control based on the desired acceleration uff of the output of the subject 30 of control and the output uad of the function approximator 46. The values of the position gain Kp and the speed gain KD are selected to meet predetermined conditions.
Inventors:
Atsushi Nakanishi
Application Number:
JP2003277758A
Publication Date:
January 24, 2007
Filing Date:
July 22, 2003
Export Citation:
Assignee:
International Telecommunications Research Institute Ltd.
International Classes:
G05B13/02; (IPC1-7): G05B13/02
Domestic Patent References:
| JP11259444A | ||||
| JP11065608A |
Attorney, Agent or Firm:
Satoshi Shimizu