• DocumentCode
    700648
  • Title

    On the use of learning control for improved performance in robot control systems

  • Author

    Gunnarsson, S. ; Norrlof, M.

  • Author_Institution
    Dept. of Electr. Eng., Linkoping Univ., Linköping, Sweden
  • fYear
    1997
  • fDate
    1-7 July 1997
  • Firstpage
    1291
  • Lastpage
    1296
  • 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.
  • Keywords
    feedback; feedforward; iterative learning control; robots; robust control; feedback control; feedforward control; iterative learning control; robot arm; robot control systems; robustness aspects; Control systems; Convergence; Friction; Mathematical model; Robots; Stability analysis; Transfer functions; Adaptive; Iterative Learning Control; Robotics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 1997 European
  • Conference_Location
    Brussels
  • Print_ISBN
    978-3-9524269-0-6
  • Type

    conf

  • Filename
    7082278
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=700648