Cascaded iterative learning control for improved task execution of optimal control

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...

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Bibliographic Details
Published inProceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) Vol. 2; pp. 1290 - 1295 vol.2
Main Authors Robertsson, A., Scalamogna, D., Grundelius, M., Johansson, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2002
Subjects
Acceleration
Automatic control
Containers
Control Engineering
Control systems
Electrical Engineering, Electronic Engineering, Information Engineering
Elektroteknik och elektronik
Engineering and Technology
Iterative Learning Control (ILC)
Mechatronics
Motion Control
Open loop systems
Optimal control
Packaging machines
Reglerteknik
Robot control
Robotics
Teknik
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Summary: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. The paper deals with a control problem common in machines for packaging fluids. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.
ISBN:0780372727
9780780372726
DOI:10.1109/ROBOT.2002.1014720