An adaptive iterative learning control algorithm with experiments on an industrial robot [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, 2002
Engelska 8 s.
Serie: LiTH-ISY-R, 1400-3902 ; 2434
Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
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