Some Aspects of an Optimization Approach to Iterative Learning Control

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Iterative Learning Control

ILC

Optimization

Frequency domain

Automatic control

Reglerteknik

TECHNOLOGY

Publikations- och innehållstyp

vet (ämneskategori)

rap (ämneskategori)