US 12,304,077 B2
Modeling of controlled object
Hiroshi Fujimoto, Tokyo (JP); and Ryohei Kitayoshi, Fukuoka (JP)
Filed by The University of Tokyo, Tokyo (JP); and KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Mar. 30, 2023, as Appl. No. 18/192,646.
Application 18/192,646 is a continuation of application No. PCT/JP2020/037868, filed on Oct. 6, 2020.
Prior Publication US 2023/0234223 A1, Jul. 27, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); G05B 13/04 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1671 (2013.01); B25J 13/089 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system comprising circuitry configured to:
generate, based on a command profile representing a temporal change of a command for driving a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object;
generate, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model;
generate, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and
control the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters.