Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control
- Robertsson, Anders
- Scalamogna, Domenico
- Grundelius, Mattias
- Johansson, Rolf
Publication date
January 2002
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
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
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