강화학습에 의한 선형동기 모터의 고정밀 제어

Title
강화학습에 의한 선형동기 모터의 고정밀 제어
Other Titles
High-Accuracy Motion Control of Linear Synchronous Motor Using Reinforcement Learning
Author(s)
박정일정승현[정승현]
Keywords
Robust Internal-loop Compensator (견실내부루프보상기); Disturbance Observer (외란 관측기); Reinforcement Learning (강화학습); Linear Synchronous Motor (선형동기모터)
Issue Date
201112
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.28, no.12, pp.1379 - 1387
Abstract
A PID-feedforward controller and Robust Internal-loop Compensator (RIC) based on reinforcement learning using random variable sequences are provided to auto-tune parameters for each controller in the high-precision position control of PMLSM (Permanent Magnet Linear Synchronous Motor). Experiments prove the well-tuned controller could be reduced up to one-fifth level of tracking errors before learning by reinforcement learning. The RIC compared to the PIDfeedforward controller showed approximately twice the performance in reducing tracking error and disturbance rejection.
URI
http://hdl.handle.net/YU.REPOSITORY/24065
ISSN
1225-9071
Appears in Collections:
공과대학 > 전자공학과 > Articles
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