Title :
An adaptive iterative learning control algorithm with experiments on an industrial robot
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
fDate :
4/1/2002 12:00:00 AM
Abstract :
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
Keywords :
adaptive Kalman filters; industrial robots; learning (artificial intelligence); ILC filters; Kalman filter; adaptive iterative learning; disturbance rejection; estimation procedure; industrial robot; iterative learning control; quadratic criterion; Adaptive control; Filters; Industrial control; Iterative algorithms; Iterative methods; Process control; Programmable control; Robot control; Service robots; Vectors;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2002.999653
