An adaptive iterative learning control algorithm with experiments on an industrial robot [Elektronisk resurs] / Mikael Norrlöf

• An adaptive iterative learning control (ILC) algorithm based on an estimation procedure using a Kalman filter and an optimization of a quadratic criterion is presented. It is shown that by taking the measurement disturbance into consideration the resulting ILC filters become iteration-varying. Results from experiments on an industrial robot show that the algorithm is successful also in an application. 

Indexterm och SAB-rubrik

Disturbance rejection Iterative learning control Robot application Synthesis