Analysis of a second order iterative learning control Algorithm [Elektronisk resurs] / Mikael Norrlöf
- Norrlöf, Mikael, 1971- (författare)
Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,, 1971-
- Linköping : Linköping University Electronic Press, 2000
- Engelska 53 s.
Serie: LiTH-ISY-R, 1400-3902 ; 2181
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- In the report aspects on stability, performance, and robustness is discussed for general second order methods. The basis for the analysis is linear iterative systems which are also covered in the report. The behavior of second order ILC systems is discussed both from a transient as well as an asymptotic point of view. Two different design algorithms are proposed and analyzed theoretically. The two algorithms are then compared with a first order ILC design in an experiment on an industrial robot from ABB Robotics. The result is that the second order ILC designs compete well with the first order design but does not prove to be better, either from a performance nor from a robustness perspective.
Indexterm och SAB-rubrik
- Iterative learning control ILC Higher order ILC Robotics Frequency domain
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