TY - GEN
T1 - Termination test of feedback error learning for automation of learning and positioning
AU - Morimoto, Kazuki
AU - Nakamura, Yukinori
AU - Wakui, Shinji
PY - 2012/11/27
Y1 - 2012/11/27
N2 - This paper considers the timing of termination of feedback error learning (FEL) so as to avoid long learning time and improve the tracking performance. In our method, the learning is automatically stopped according to the change of time integral of estimated parameters in a feedforward controller, resulting in the cost reduction of controller tuning. Proposed termination test is performed in the learning control of a linear stage. Furthermore, the automation of the FEL and stage positioning is investigated. The effectiveness of the proposed method is shown by experiment.
AB - This paper considers the timing of termination of feedback error learning (FEL) so as to avoid long learning time and improve the tracking performance. In our method, the learning is automatically stopped according to the change of time integral of estimated parameters in a feedforward controller, resulting in the cost reduction of controller tuning. Proposed termination test is performed in the learning control of a linear stage. Furthermore, the automation of the FEL and stage positioning is investigated. The effectiveness of the proposed method is shown by experiment.
UR - http://www.scopus.com/inward/record.url?scp=84869764139&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869764139&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84869764139
SN - 9780955529382
T3 - 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
SP - 253
EP - 258
BT - 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
T2 - 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
Y2 - 18 September 2012 through 21 September 2012
ER -