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On the Use of Learning Control for Improved Performance 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 1997 European Control Conference, 1997Conference paper, Published paper (Refereed)
Abstract [en]

Iterative learning control applied to a simplified model of a robot arm is studied. The iterative learning control input signal is used in combination with conventional feed-back and feed-forward control, and the aim is to let the learning control signal handle the effects of unmodeled dynamics and friction. Convergence and robustness aspects of the choice of filters in the updating scheme of the iterative learning control signal are studied.

Place, publisher, year, edition, pages
1997.
Keyword [en]
Iterative Learning Control, Robotics, Adaptive
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29612Local ID: 14991OAI: oai:DiVA.org:liu-29612DiVA: diva2:250429
Conference
1997 European Control Conference, Brussels, Belgium, July, 1997
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-06-13

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Gunnarsson, SvanteNorrlöf, Mikael

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