On the design of ILC algorithms using optimization

Authors
Gunnarsson, S Norrlof, M
Citation
S. Gunnarsson et M. Norrlof, On the design of ILC algorithms using optimization, AUTOMATICA, 37(12), 2001, pp. 2011-2016
Citations number
10
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
AUTOMATICA
ISSN journal
00051098 → ACNP
Volume
37
Issue
12
Year of publication
2001
Pages
2011 - 2016
Database
ISI
SICI code
0005-1098(200112)37:12<2011:OTDOIA>2.0.ZU;2-H
Abstract
Iterative learning control (ILC) based on minimization of a quadratic crite rion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial i ndustrial robot are also presented. (C) 2001 Elsevier Science Ltd. All righ ts reserved.