学習の最適収束を考慮した適応型繰り返し学習制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/07/01

タイトル(英語): Proposal of Adaptive Type Iterative Learning Control for System with Characteristic Change

著者名: 今井　淳文（鳥取大学大学院 工学研究科），櫛田　大輔（鳥取大学大学院 工学研究科），竹森　史暁（鳥取大学大学院 工学研究科），北村　章（鳥取大学大学院 工学研究科）

著者名(英語): Atsufumi Imai (Graduate school of Engineering, Tottori University), Daisuke Kushida (Graduate school of Engineering, Tottori University), Fumiaki Takemori (Graduate school of Engineering, Tottori University), Akira Kitamura (Graduate school of Engineering, Tottori University)

キーワード: 適応型繰り返し学習制御，学習ゲイン，生体信号　　Adaptive type iterative learning control，Learning gain，Biological signal

要約(英語): Authors proposed the machine control technique for manipulating man's condition by the iterative learning control (ILC) based on the biomedical signal. However, there was a possibility that ILC becomes unstable when the system with low repeatability like man was included in controlled object. Then, "Adaptive type ILC (ATILC)" that adjusted the learning gain according to the characteristic change of controlled object at each trial was newly proposed in this paper. The ATILC adjusts learning gain by using the model parameter after controlled object is modeled by first-order delay based on the time series of I/O in one trial of controlled object. Even if controlled system is accompanied by the property change, the output trajectory of controlled object follows to objective one by ATILC. The effectiveness of the proposed method was confirmed by simulation work by using the approximation model of biological signal.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.7 （2011） 特集：平成22年電気学会電子・情報・システム部門大会

本誌掲載ページ: 1303-1308 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/7/131_7_1303/_article/-char/ja/