Using Cascaded Iterative Learning Control for Improved Task Execution

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to drastically enlarge the region of convergence and efficiently compensate for unmodeled dynamics in the motion system.

Details

Authors
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Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering

Keywords

  • Motion Control, Robotics, Iterative Learning Control (ILC)
Original languageEnglish
Title of host publicationPreprints Reglermöte 2002
PublisherReglerteknik och kommunikationssystem, Linköpings Universitet
Publication statusPublished - 2002
Publication categoryResearch
Peer-reviewedYes

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