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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2002. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2434
Keyword [en]
Iterative learning control, disturbance rejection, synthesis, robot application
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55865ISRN: LiTH-ISY-R-2434OAI: diva2:316670
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved

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Norrlöf, Mikael
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Automatic ControlThe Institute of Technology
Control Engineering

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ReferencesLink to record
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