STABILITY OF FEEDBACK ERROR LEARNING METHOD FOR GENERAL PLANTS WITH TIME DELAY
STABILITY OF FEEDBACK ERROR LEARNING METHOD FOR GENERAL PLANTS WITH TIME DELAY
复制标题
一般带时滞对象的反馈误差学习方法的稳定性
DOI：
10.3182/20020721-6-es-1901.00619
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Kimura
中科院分区：
文献类型：
--
作者：
A. Miyamura;H. Kimura
摘要反馈错误学习方法是最近由Kawato等人提出的。（M. Kawato和Suzuki， 1987）作为一种可能的脑运动控制架构，这得到了神经生理学实验结果的支持。本文将其作为一般时不变线性对象的二自由度自适应控制进行分析，并在前馈路径上设置自适应控制器。在反馈回路中允许有时间延迟，就像在运动控制的神经元通路中一样。基于闭环系统的严格正性，导出了反馈误差学习方法的稳定性条件。仿真结果验证了反馈误差学习方法作为自适应控制设计策略的控制性能。
Abstract Feedback error learning method was recently proposed by Kawato et.al. (M. Kawato and Suzuki, 1987) as a possible architecture of brain motor control which is supported by experimental results in neurophysiology. In this paper, we analyze it as a two-degree-of-freedom adaptive control for general time invariant linear plant with adaptive controller in the feedforward path. A time delay is allowed in the feedback loop as in the neuronal pathways of motor control. We derive stability condition of the feedback error learning method based on the strict positiveness of the closed loop system. The control performance of the feedback error learning method as a design strategy of adaptive control has been demonstrated by simulation results.