liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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
  • text
  • asciidoc
  • rtf
Comparison of Performance and Robustness for two Classical ILC Algorithms Applied to a Flexible System
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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)Report (Other academic)
Abstract [en]

When an ILC algorithm is applied to an industrial robot, the goal is to move the tool along a desired trajectory, while only the motor position canbe measured. In this paper aspects of robustness and performance are discussed when an ILC algorithm is applied to a flexible two-mass system. It is shown that the stabilising controller of the two-mass system also directly affects the robustness properties of the ILC algorithm. A classical noncausa lP-ILC algorithm and a model-based ILC design using optimisation are applied to the system, based on the error for the first mass. Performance and robustness of the algorithms are compared when model errors are introduced in the system, showing that the optimisation-based approach can handle larger model uncertainties. It is illustrated that the performance of the overall system, when considering position of the second mass, is the practical limit compared to the limiting factor of the robustness of the ILC algorithms.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2008. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2868
Keyword [en]
Iterative learning control, Robotics, Robust control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56181ISRN: LiTH-ISY-R-2868OAI: oai:DiVA.org:liu-56181DiVA: diva2:316990
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

Open Access in DiVA

fulltext(497 kB)85 downloads
File information
File name FULLTEXT01.pdfFile size 497 kBChecksum SHA-512
06d6fa3bad7755e8ee117e1515e04d9da698b0a9c3d6e956f7e0c744d7a0acf65b0c150318fd79b7124cf18f47cf1f30b94fcf8c7b8c3c9c8cf547b204f8daa0
Type fulltextMimetype application/pdf

Authority records BETA

Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante

Search in DiVA

By author/editor
Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 85 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 107 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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
  • text
  • asciidoc
  • rtf