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Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
1997 (English)In: Proceedings of the 5th IFAC Symposium on Robot Control, 1997, 379- p.Conference paper, Published paper (Refereed)
Abstract [en]

Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feed-back and feed-forward control. The effects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simplified model of a robot arm. Convergence and robustness aspects of the choice of filters in the updating scheme of the learning control signal are studied.

Place, publisher, year, edition, pages
1997. 379- p.
Keyword [en]
Iterative Learning Control, Robotics, Friction, Disturbance signals
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29610Local ID: 14989ISBN: 0080430260 (print)OAI: oai:DiVA.org:liu-29610DiVA: diva2:250427
Conference
5th IFAC Symposium on Robot Control, Nantes, France, September, 1997
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-06-14

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Gunnarsson, SvanteNorrlöf, Mikael

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