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An Adaptive Iterative Learning Control Algorithm with Experiments on an Industrial Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2002 (English)In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 18, no 2, 245-251 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Disturbance rejection, Iterative learning control, Robot application, Synthesis
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-47048DOI: 10.1109/TRA.2002.999653OAI: oai:DiVA.org:liu-47048DiVA: diva2:267944
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2017-12-13

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Norrlöf, Mikael

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