An Adaptive Iterative Learning Control Algorithm with Experiments on an Industrial Robot

• An adaptive iterative learning control (ILC) algorithm based on an estimation procedure using a Kalman filter and an optimization of a quadratic criterion is presented. It is shown that by taking the measurement disturbance into consideration the resulting ILC filters become iteration-varying. Results from experiments on an industrial robot show that the algorithm is successful also in an application.

Ämnesord

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

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

Nyckelord

Disturbance rejection

Iterative learning control

Robot application

Synthesis

TECHNOLOGY

TEKNIKVETENSKAP

Automatic control

Reglerteknik

Publikations- och innehållstyp

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