An Adaptive Iterative Learning Control Algorithm with Experiments on an Industrial Robot
2002 (English)In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 18, no 2, 245-251 p.Article in journal (Refereed) Published
An adaptive iterative learning control (ILC) algorithm based on an estimation procedure using a Kalman filter and an optimization of a quadratic criterion is presented. It is shown that by taking the measurement disturbance into consideration the resulting ILC filters become iteration-varying. Results from experiments on an industrial robot show that the algorithm is successful also in an application.
Place, publisher, year, edition, pages
2002. Vol. 18, no 2, 245-251 p.
Disturbance rejection, Iterative learning control, Robot application, Synthesis
IdentifiersURN: urn:nbn:se:liu:diva-47048DOI: 10.1109/TRA.2002.999653OAI: oai:DiVA.org:liu-47048DiVA: diva2:267944