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A framework for evaluation of iterative learning control
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [sv]

I många industriella tillämpningar används robotar för tunga och repetetiva uppgifter. För dessa tillämpningar är iterative learning control (ILC) ett sätt att fånga upp och utnyttja repeterbarheten för att förbättra någon form av referenseföljning.

I det här examensarbetet har det tagits fram ett ramverk som ska hjälpa en användare att kunna untyttja ILC. Det visas handgripliga exempel på hur man enkelt kan avända ramverket. Övergången från den betydligt mer vanliga diskreta ILC algoritmen till det kontinuerliga tillvägagångssättet som anänds av ramverket underlättas av teroretisk  underbygga inställningsregler. Den uppnåeliga prestandan demonstreras med hjälp av ramverkets inbyggda plotfunktioner.

Abstract [en]

In many industrial applications robots are used for heavy and repetitive tasks. For these applications iterative learning control (ILC) is a way to capture the repetitive nature and use it to improve some kind of reference tracking.

In this master thesis a framework has been developed to help a user getting started with ILC. Some hands-on examples are given on how to easily use the framework. The transition from the far more common discrete time domain to the continuous time domain used by the framework is eased by tuning theory. The achievable performance is demonstrated with the help of the built-in plot functions of the framework.

Place, publisher, year, edition, pages
2014. , 52 p.
Keyword [en]
Framework, iterative learning control, mathematica, systemmodeler
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-110032ISRN: LiTH-ISY-EX--14/4751--SEOAI: oai:DiVA.org:liu-110032DiVA: diva2:742305
External cooperation
MathCore AB
Subject / course
Automatic Control
Available from: 2014-09-05 Created: 2014-09-01 Last updated: 2014-09-05Bibliographically approved

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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