2013 Fiscal Year Final Research Report
Motion control and monitoring of robot arm via feedback error learning and statistic learning
| Project/Area Number |
23560531
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
SUGIMOTO Kenji 奈良先端科学技術大学院大学, 情報科学研究科, 教授 (20179154)
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| Co-Investigator(Kenkyū-buntansha) |
TACHIBANA Takuji 福井大学, 工学部, 准教授 (20415847)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 制御理論 / 適応学習制御 / フィードフォワード / オンライン同定 / 2自由度構造 / マルチモデル / 非線形システム / ロボットアーム |
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| Research Abstract |
The objectives of this research are 1) to expand/deepen feedback error learning as a scheme for adaptive learning control, and 2) to examine a statistic learning technique, which has made a lot of progress recently, from a dual viewpoint of feedback error leaning, thereby making full use of the both approaches complementary in order to attain motion control/monitering of robot arms. The former is successful in that seperating control/learning laws has enabled to delete the effect to closed-loop and that generalization to a single filter to a filter bank has lead to a powerful learning control scheme that can treat nonlinearity. On the other hand, concerning the latter, our simulation result has not given what we had expected in advance. We are currently investigating reasons why this does not work well.
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Research Products
(29 results)
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[Remarks] K. Sugimoto, Feedback Error Learning : From Biological Model To Control Engineering : A Multi-model Perspective, King Fahd University of Petroleum and Minerals, Saudi Arabia, 5 May, 2014
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[Remarks] K. Sugimoto, Blind Signal Deconvolution and Learning Feedforward Control : Two Applications of On-line Inverse Dynamics Learning, Laboratory for Analysis and Architecture of Systems, CNRS, France, 8 July, 2013
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[Remarks] 杉 本謙二,これだけは知っておきたいビ ッグデータ解析,第4回けいはんな植物工場 ネットワーク会議,けいはんなプラザ,京都 府相楽郡精華町光台, 2月5日, 2013
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[Remarks] 杉 本謙二,計測制御にできること・でき ないこと,第1回けいはんな植物工場ネット ワーク会議,けいはんなプラザ,京都府相 楽郡精華町光台, 7月6日, 2012
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[Remarks] 杉 本謙二,情報科学から見た植物工場,けいはんなプラザ,相楽郡精華町光台,ア グリバイオ研究会, 9月2日, 2011
