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Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control

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Author

Summary, in English

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.

Publishing year

2002

Language

English

Pages

1290-1295

Publication/Series

Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02)

Volume

2

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • Motion Control
  • Robotics
  • Iterative Learning Control (ILC)

Status

Published

ISBN/ISSN/Other

  • ISBN: 0-7803-7272-7