Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2002
Språk
Engelska
Sidor
1290-1295
Publikation/Tidskrift/Serie
Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02)
Volym
2
Fulltext
- Available as PDF - 601 kB
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Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- Motion Control
- Robotics
- Iterative Learning Control (ILC)
Status
Published
ISBN/ISSN/Övrigt
- ISBN: 0-7803-7272-7