An Adaptive Iterative Learning Control Algorithm with Experiments on an Industrial Robot
2002 (English)Report (Other academic)
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
Iterative learning control, disturbance rejection, synthesis, robot application
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-55865ISRN: LiTH-ISY-R-2434OAI: oai:DiVA.org:liu-55865DiVA: diva2:316670