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Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control

Robertsson, Anders LU ; Scalamogna, Domenico; Grundelius, Mattias LU and Johansson, Rolf LU (2002) In Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02) 2. p.1290-1295
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. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Motion Control, Robotics, Iterative Learning Control (ILC)
in
Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02)
volume
2
pages
1290 - 1295
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • WOS:000178573200203
  • Scopus:0036061150
ISBN
0-7803-7272-7
DOI
10.1109/ROBOT.2002.1014720
language
English
LU publication?
yes
id
e48558b2-238d-444e-a7e4-c3690c1f833b (old id 537671)
date added to LUP
2007-09-25 09:12:33
date last changed
2017-02-19 04:28:52
@inproceedings{e48558b2-238d-444e-a7e4-c3690c1f833b,
  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. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.},
  author       = {Robertsson, Anders and Scalamogna, Domenico and Grundelius, Mattias and Johansson, Rolf},
  booktitle    = {Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02)},
  isbn         = {0-7803-7272-7},
  keyword      = {Motion Control,Robotics,Iterative Learning Control (ILC)},
  language     = {eng},
  pages        = {1290--1295},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control},
  url          = {http://dx.doi.org/10.1109/ROBOT.2002.1014720},
  volume       = {2},
  year         = {2002},
}