Optimal gain tuning of time-delay control using taguchi method with application to robot manipulators = Taguchi 법을 이용한 시간 지연 제어기의 최적 게인 조정에 관한 연구 : 로봇 메니퓰레이터에 적용

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This thesis presents an experimental gain optimization scheme of time-delay control (TDC) systems using the Taguchi method with application to robot manipulators. TDC is well known as a simple, robust and decentralized approach for nonlinear systems. The choice of gains in TDC not only determines the stability of the system, but also affects the effect of disturbances and noises. Hence to find optimal gains becomes very meaningful. Since in the discrete domain, TDC and PID are equivalent, this research can be easily extended to the application of PID control systems. Taguchi’s robust parameter design is used and developed as a learning scheme to achieve gain optimization on-line. The integral-squared-error (ISE) is selected as the performance index to minimize both of the error magnitude and duration, while the signal-to-noise (S/N) ratio and analysis-of-variance (ANOVA) are used to analyze the results. Based on the ANOVA and general linear least squares method, an experimental algorithm for detecting the upper limit of the searching range is developed. The detecting algorithm is verified to be safe and effective by experiments. The proposed tuning method is implemented on the obtained searching range. It is shown by both simulations and experiments that the proposed scheme is efficient and satisfied. With experiments on a 2 DOF robot manipulator, the near-optimal values of the controller gains are obtained in about 5 iterations, which correspond to about 90 experiments. The tuning result is also confirmed by the performance index topology on the whole searching range.
Chang, Pyung-Hunresearcher장평훈researcher
한국과학기술원 : 기계공학전공,
Issue Date
268779/325007  / 020054326

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2007. 8, [ v, 84 p. ]


gain tuning TDC Taguchi method; 게인 시간 지연 제어기 Taguchi 법

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