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

Direct link
Estimation-based ILC applied to a parallel kinematic robot
Saab Aeronaut, SE-58188 Linkoping, Sweden.
Lund University, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Lund University, Sweden.
Show others and affiliations
2014 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 33Article in journal (Refereed) Published
Abstract [en]

Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter.

Place, publisher, year, edition, pages
Elsevier , 2014. Vol. 33
Keyword [en]
Iterative methods; Learning control; Robotic manipulator; Estimation algorithm; Performance evaluation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:liu:diva-113180DOI: 10.1016/j.conengprac.2014.08.008ISI: 000345728700001OAI: diva2:780009

Funding Agencies|ELLIIT, Excellence Center at Linkoping - Lund in Information Technology; LCCC Linnaeus Center at Lund University; Vinnovas Industry Excellence Center LINK-SIC at Linkoping University

Available from: 2015-01-13 Created: 2015-01-12 Last updated: 2015-01-21

Open Access in DiVA

fulltext(765 kB)163 downloads
File information
File name FULLTEXT01.pdfFile size 765 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Gunnarsson, SvanteNorrlöf, Mikael
By organisation
Automatic ControlThe Institute of Technology
In the same journal
Control Engineering Practice
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 163 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

Altmetric score

Total: 302 hits
ReferencesLink to record
Permanent link

Direct link