| 1. |
- Ljung, Lennart, 1946-, et al.
(författare)
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Adaptation and Tracking in System Identification
- 1988
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Ingår i: Proceedings of the 8th IFAC Symposium on Identification and System Parameter Estimation. - Linköping : Linköping University. ; , s. 1-10
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- This article gives a survey of basic techniques to derive and analyse algorithms for tracking time-varying systems. Special attention is paid to how different assumptions about the true system affect the algorithms. Explicit and semi-explicit expressions for the means square errors are derived, which clearly demonstrate the character of the trade-off between tracking ability and noise sensitivity.
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| 2. |
- Gunnarsson, Svante, et al.
(författare)
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Iterative Learning Control of a Flexible Mechanical System Using Accelerometers
- 2000
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Ingår i: Proceedings of the 6th IFAC Symposium on Robot Control. - Linköping : Linköping University Electronic Press. - 0080435610 ; , s. 327-332
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Control of a flexible mechanical system using Iterative Learning Control (ILC) is studied using a linear two-mass model. The available signals are position of the first mass and acceleration of the second mass. An ILC algorithm using an estimate of the position of the second mass is evaluated in simulations showing promising properties.
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| 3. |
- Gunnarsson, Svante, et al.
(författare)
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Frequency Domain Description of the Tracking Capability and Disturbance Rejection Trade-off in Recursive Identification
- 1989
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Ingår i: Proceedings of the 1989 International Conference on Acoustics, Speech and Signal Processing. - Linköping : Linköping University. ; , s. 2077-2080
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- A study is made of three recursive identification algorithms with respect to their tracking capability and disturbance sensitivity. The algorithms are applied to the identification of time-varying systems with finite impulse response. The performance of the algorithms are measured in terms of the mean square error of the estimated transfer function. Using asymptotic methods, explicit expressions for the mean square error are derived, and these expressions are used to evaluate the performance of the algorithms when applied to systems with different behavior.
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| 4. |
- Gunnarsson, Svante, 1959-, et al.
(författare)
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LQG Control of a Hydraulic Actuator with a Flexible Mechanical Load
- 1993
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Ingår i: Proceedings of the 12th IFAC World Congress. - Linköping : Linköping University. - 9780080422121 ; , s. 469-472
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents a control system based on linear quadratic state feedback and state estimation for an hydraulic actuator with a flexible mechanical load. The purpose of the control system is to improve the dynamic properties by reducing the oscillatory behavior of the load and to eliminate the steady state error in the load position caused by external disturbances. Using a simplified linear model a control system is developed and evaluated using simulations and experiments.
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| 5. |
- Gunnarsson, Svante, 1959-, et al.
(författare)
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On the Use of Learning Control for Improved Performance in Robot Control Systems
- 1997
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Ingår i: Proceedings of the 1997 European Control Conference. - Linköping : Linköping University Electronic Press.
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Iterative learning control applied to a simplified model of a robot arm is studied. The iterative learning control input signal is used in combination with conventional feed-back and feed-forward control, and the aim is to let the learning control signal handle the effects of unmodeled dynamics and friction. Convergence and robustness aspects of the choice of filters in the updating scheme of the iterative learning control signal are studied.
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| 6. |
- Gunnarsson, Svante, et al.
(författare)
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Some Aspects of an Optimization Approach to Iterative Learning Control
- 1999
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Ingår i: Proceedings of the 38th IEEE Conference on Decision and Control. - Linköping : Linköping University Electronic Press. - 0780352505 ; , s. 1581-1586 vol.2
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- An optimization approach to Iterative Learning Control (ILC) is considered. The ILC algorithm is formed by minimizing a quadratic criterion in the control error and input signal. A frequency domain interpretation of the derived updating algorithm is given. Experiments carried out on an ABB IRB 1400 are presented.
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| 7. |
- Gunnarsson, Svante, 1959-, et al.
(författare)
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Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
- 1997
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Ingår i: Proceedings of the 5th IFAC Symposium on Robot Control. - Linköping : Linköping University Electronic Press. - 0080430260 ; , s. 379-
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feed-back and feed-forward control. The effects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simplified model of a robot arm. Convergence and robustness aspects of the choice of filters in the updating scheme of the learning control signal are studied.
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| 8. |
- Karlsson, Rickard, 1970-, et al.
(författare)
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Automatic Control Project Course : A Positioning and Control Application for an Unmanned Aerial Vehicle
- 2006
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Ingår i: World Transactions on Engineering and Technology Education. - Linköping : Linköping University Electronic Press. - 1446-2257. ; 5, s. 291-294
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- In the Conceive – Design – Implement - Operate (CDIO) project course in automatic control, an autonomous unmanned aerial vehicle (UAV) is constructed, utilising an existing radio controlled model aircraft. By adding an inertial sensor that measures acceleration and rotation, together with a Global Positioning System (GPS) sensor, the aim is to construct an accurate positioning system. This is used by an onboard computer to calculate control surface signals to a set of servos in order to follow a predefined way-point trajectory. The project involves 17 students and comprises both positioning, control and hardware design. The main pedagogical goal is for students to apply their theoretical knowledge within a project framework in order to improve important aspects of their engineering skills in a realistic manner.
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| 9. |
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| 10. |
- Norrlöf, Mikael, 1971-, et al.
(författare)
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A Frequency Domain Analysis of a Second Order Iterative Learning Control Algorithm
- 1999
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Ingår i: Proceedings of the 38th IEEE Conference on Decision and Control. - Linköping : Linköping University Electronic Press. - 0780352505 ; , s. 1587-1592 vol.2
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- A frequency domain analysis method of a second order iterative learning control (ILC) algorithm is considered. Using the notion of iterative systems bounds for stability are presented in the frequency domain for the second order term. The bounds are found using a geometrical approach based on the special structure of the transfer matrix in the iterative system. Two examples are included showing how the analysis method can be used in an application.
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