Adaptive iterative learning control algorithms for disturbance rejection [Elektronisk resurs] / Mikael Norrlöf

• The disturbance rejection formulation to iterative learning control is discussed and the problem of iterative learning control with measurement disturbance is covered. It is shown that by taking the measurement disturbance into consideration the resulting iterative learning control filters become time varying. To cover the case when the controlled system is non linear, time invariant and/or the disturbance that should be rejected is changing as a function of iteration, an adaptive iterative learning control algorithm is presented. The adaptive algorithm is based on an estimation procedure, using a Kalman filter and a linear quadratic optimal control solution. Results from experiments on an industrial robot show that the algorithm is successful also in an application. 

Indexterm och SAB-rubrik

ILC Iterative learning control Optimal Disturbance rejection