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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 1997. , 6 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 1956
Keyword [en]
Robotics, Iterative Learning Control, Friction, Disturbance signals
Keyword [sv]
Maskinelement Servomekanismer Automation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55391ISRN: LiTH-ISY-R-1956OAI: oai:DiVA.org:liu-55391DiVA: diva2:315989
Available from: 2010-04-29 Created: 2010-04-29 Last updated: 2014-09-18Bibliographically approved

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Gunnarsson, SvanteNorrlöf, Mikael

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Gunnarsson, SvanteNorrlöf, Mikael
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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