Bettering operation of dynamic systems by learning: A new control theory for servomechanism or mechatronics systems

摘要: A new concept called "betterment process" is proposed for the purpose of giving a learning ability autonomous construction better control input to class multi-input multi-output servomechanism or mechatronics systems such as mechanical robots. It assumed that those dynamic can be operated repeatedly at low cost and in relatively short time under invariant initial physical conditions, but knowledge on precise description their dynamics not required. The betterment process composed simple iteration rule generates autonomously present actuator than previous one, provided desired output response given. convergence proved where k+1th kth plus an increment derivative error between given response. Discussions potential applications theory controlling robots other are presented together with future subjects investigated.