Cascaded iterative learning control for improved task execution of optimal control

Author

Robertsson, A. ; Scalamogna, D. ; Grundelius, M. ; Johansson, R.

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Volume

2

fYear

2002

fDate

2002

Firstpage

1290

Abstract

Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to drastically enlarge the region of convergence and efficiently compensate for unmodeled dynamics in the motion system. The paper deals with a control problem common in machines for packaging fluids. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.

Keywords

cascade control; learning systems; motion control; optimal control; packaging; robots; cascaded iterative learning control; duration of motion; liquid packaging; maximum liquid slosh; motion system; optimal control; region of convergence; residual slosh; task execution; time sub-optimal trajectory; unmodeled dynamics; Acceleration; Automatic control; Containers; Control systems; Mechatronics; Motion control; Open loop systems; Optimal control; Packaging machines; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014720

Filename

1014720