On the design of ILC algorithms using optimization

被引：246

作者：

Gunnarsson, S ^{[1
]}

Norrlöf, M ^{[1
]}

机构：

[1] Linkoping Univ, Dept Elect Engn, SE-58183 Linkoping, Sweden

来源：

AUTOMATICA | 2001年 / 37卷 / 12期

关键词：

learning control; optimization; robotics; frequency domains; non-minimum phase systems;

D O I：

10.1016/S0005-1098(01)00154-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Iterative learning control (ILC) based on minimization of a quadratic criterion 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 industrial robot are also presented. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：2011 / 2016

页数：6

共 10 条

[1]

Amann N., 1995, 9513 U EX CTR SYST C

[2]

[Anonymous], ITERATIVE LEARNING C

[3]

ASTROM KJ, 1984, COMP9UTER CONTROLLED

[4]

FRUEH JA, 1998, P 37 IEEE C DEC CONT

[5]

GORINEVSKY D, 1995, P ACC 1995 SEATTL WA

[6]

GUNNARSSON S, 1999, P 38 IEEE C DEC CONT

[7] Model-based iterative learning control with a quadratic criterion for time-varying linear systems [J].

Lee, JH ;

Lee, KS ;

Kim, WC .

AUTOMATICA, 2000, 36 (05) :641-657

[8]

Moore K. L, 1998, APPL COMPUTATIONAL C, V1, p,

[9]

Moore KL, 1993, ITERATIVE LEARNING C

[10]

NORRLOF M, 2000, THESIS LINKOPING U L

← 1 →