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An Adaptive Approach to Iterative Learning Control with Experiments on an Industrial Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2001 (English)In: Proceedings of the 2001 European Control Conference, 2001, 220-225 p.Conference paper, Published paper (Refereed)
Abstract [en]

An adaptive approach to Iterative Learning Control (ILC) based on Kalman filters and optimization of a quadratic criterion is presented. The idea is to estimate one of the design parameters in the Kalman filter and hence create an adaptive gain in the ILC updating formula. The proposed ILC design is compared with two other ILC schemes and they are all implemented on an industrial robot. The results show that the proposed adaptive ILC scheme is fast, and also robust since the gain is reduced as the error is decreased.

Place, publisher, year, edition, pages
2001. 220-225 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2372
Keyword [en]
Adaptive, Iterative learning control, Robot, Kalman filter
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29599Local ID: 14977OAI: oai:DiVA.org:liu-29599DiVA: diva2:250416
Conference
2001 European Control Conference, 4-7 September 2001, Porto, Portugal
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2015-04-20

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Norrlöf, Mikael

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