Termination test of feedback error learning for automation of learning and positioning

Kazuki Morimoto, Yukinori Nakamura, Shinji Wakui

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
Pages253-258
Number of pages6
Publication statusPublished - Nov 27 2012
Externally publishedYes
Event2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo, Japan
Duration: Sep 18 2012Sep 21 2012

Publication series

Name2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012

Other

Other2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
CountryJapan
CityTokyo
Period9/18/129/21/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Morimoto, K., Nakamura, Y., & Wakui, S. (2012). Termination test of feedback error learning for automation of learning and positioning. In 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 (pp. 253-258). [6329719] (2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012).