Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control
Publikation/Tidskrift/Serie: Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02)
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. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.
- Technology and Engineering
- Motion Control
- Iterative Learning Control (ILC)
- ISBN: 0-7803-7272-7