Publikationer
Using Cascaded Iterative Learning Control for Improved Task Execution
Avdelning/ar:
Publiceringsår: 2002
Språk: Engelska
Publikation/Tidskrift/Serie: Preprints Reglermöte 2002
Dokumenttyp: Konferensbidrag
Förlag: Reglerteknik och kommunikationssystem, Linköpings Universitet
Sammanfattning
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.
Disputation
Nyckelord
- Technology and Engineering
- Motion Control
- Robotics
- Iterative Learning Control (ILC)
Övrigt
Published
Yes
