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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 (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.
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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
LU Robotics Laboratory
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},
  language     = {eng},
  publisher    = {Reglerteknik och kommunikationssystem, Linköpings Universitet},
  title        = {Using Cascaded Iterative Learning Control for Improved Task Execution},
  year         = {2002},
}