Title :
Some aspects of an optimization approach to iterative learning control
Author :
Gunnarsson, Svante ; Norrlof, Mikael
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
fDate :
6/21/1905 12:00:00 AM
Abstract :
An optimization approach to Iterative Learning Control (ILC) is considered. The ILC algorithm is formed by minimizing a quadratic criterion in the control error and input signal. A frequency domain interpretation of the derived updating algorithm is given. Experiments carried out on an ABB IRB 1400 are presented
Keywords :
control system analysis; iterative methods; optimisation; ABB IRB 1400; control error; frequency domain interpretation; input signal; iterative learning control; optimization approach; quadratic criterion; updating algorithm; Control systems; Equations; Error correction; Filters; Frequency domain analysis; Iterative algorithms; Iterative methods; Open loop systems; Robots; Signal design;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830247
