Title :
Multi-channel design for ILC with robot experiments
Author :
Ye, Yongqiang ; Wang, Danwei
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
In this paper, the design procedure of multi-channel anticipatory learning control is demonstrated via a robot joint example. Technical details such as design of channels, design of filters, are illustrated. One more channel substantially widens the learnable frequency range. Comparisons of the multi-channel learning control with the conventional single channel learning control verify the effectiveness of the learning controller of the additional channel.
Keywords :
iterative methods; learning systems; manipulators; filter design; frequency range; iterative learning control; learning controller; multichannel design; multichannel learning control; robot experiments; robot joint; Band pass filters; Control systems; Convergence; Cutoff frequency; Design engineering; Fourier transforms; Laplace equations; Robots; Trajectory; Transfer functions;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238571
