Analysis of a Second Order Iterative Learning Control Algorithm
2000 (English)Report (Other academic)
In the report aspects on stability, performance, and robustness is discussed for general second order methods. The basis for the analysis is linear iterative systems which are also covered in the report. The behavior of second order ILC systems is discussed both from a transient as well as an asymptotic point of view. Two different design algorithms are proposed and analyzed theoretically. The two algorithms are then compared with a first order ILC design in an experiment on an industrial robot from ABB Robotics. The result is that the second order ILC designs compete well with the first order design but does not prove to be better, either from a performance nor from a robustness perspective.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 53 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2181
Iterative learning control, ILC, Higher order ILC, Robotics, Frequency domain
IdentifiersURN: urn:nbn:se:liu:diva-55733ISRN: LiTH-ISY-R-2181OAI: oai:DiVA.org:liu-55733DiVA: diva2:316603