DocumentCode
2178273
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
Volume
2
fYear
2002
fDate
2-5 Dec. 2002
Firstpage
1066
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN
981-04-8364-3
Type
conf
DOI
10.1109/ICARCV.2002.1238571
Filename
1238571
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