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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 1997. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 1934
Keyword [en]
Iterative Learning Control, Robotics
Keyword [sv]
Maskinelement Servomekanismer Automation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55380ISRN: LITH-ISY-R-1934OAI: oai:DiVA.org:liu-55380DiVA: diva2:316002
Available from: 2010-04-29 Created: 2010-04-29 Last updated: 2014-09-17Bibliographically 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
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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