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Using Cascaded Iterative Learning Control for Improved Task Execution

Robertsson, Anders LU ; Scalamogna, Domenico ; Grundelius, Mattias LU and Johansson, Rolf LU orcid (2002)
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.
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Motion Control, Robotics, Iterative Learning Control (ILC)
host publication
Preprints Reglermöte 2002
publisher
Reglerteknik och kommunikationssystem, Linköpings Universitet
project
RobotLab LTH
Sensor-based Integration and Task-level Programming, 1999-2002.
Lund Research Programme in Autonomous Robotics, 1998-2001
Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
language
English
LU publication?
yes
id
9e84d808-6c32-44df-b302-8ede0f4b0062 (old id 537660)
date added to LUP
2016-04-04 11:02:47
date last changed
2019-03-18 09:44:00
@inproceedings{9e84d808-6c32-44df-b302-8ede0f4b0062,
  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.}},
  author       = {{Robertsson, Anders and Scalamogna, Domenico and Grundelius, Mattias and Johansson, Rolf}},
  booktitle    = {{Preprints Reglermöte 2002}},
  keywords     = {{Motion Control; Robotics; Iterative Learning Control (ILC)}},
  language     = {{eng}},
  publisher    = {{Reglerteknik och kommunikationssystem, Linköpings Universitet}},
  title        = {{Using Cascaded Iterative Learning Control for Improved Task Execution}},
  year         = {{2002}},
}