A Framework for Analysis of Observer-Based ILC
2009 (English)Report (Other academic)
A framework for Iterative Learning Control (ILC) is proposed for the situation when the ILC algorithm is based on an estimate of the controlled variable obtained from an observer-based estimation procedure. Under the assumption that the ILC input converges to a bounded signal, a general expression for the asymptotic error of the controlled variable is given. The asymptotic error is then exemplified by an ILC algorithm applied to a flexible two-mass model of a robot joint.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. , 11 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2918
Iterative learning control, Framework, Estimate, Asymptotic, Controlled variable
IdentifiersURN: urn:nbn:se:liu:diva-56210ISRN: LiTH-ISY-R-2918OAI: oai:DiVA.org:liu-56210DiVA: diva2:317000