| Feedforward Input Signal Generation for MIMO Nonminimum Phase Autonomous System Using Iterative Learning Method |
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Kyongsoo Kim |
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Defense Science Department, Korea National Defense University |
| 반복학습에 의한 MIMO Nonminimum Phase 자율주행 System의 Feedforward 입력신호 생성에 관한 연구 |
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김경수 |
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국방대학교 국방과학학과 |
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| Abstract |
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As the 4th industrial revolution and artificial intelligence technology develop, it is expected that there will be a revolutionary changes in the security robot. However, artificial intelligence system requires enormous hardwares for tremendous computing loads, and there are many challenges that need to be addressed more technologically. This paper introduces precise tracking control technique of autonomous system that need to move repetitive paths for security purpose. The input feedforward signal is generated by using the inverse based iterative learning control theory for the 2 input 2 output nonminimum-phase system which was difficult to overcome by the conventional feedback control system. The simulation results of the input signal generation and precision tracking of given path corresponding to the repetition rate of extreme, such as bandwidth of the system, shows the efficacy of suggested techniques and possibility to be used in military security purposes. |
| Key Words:
Input Signal Generation, Autonomous System, Output Trajectory Tracking, Precision Tracking Control |
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