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Content Provider | IEEE Xplore Digital Library |
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Author | Ratcliffe, J.D. Lewin, P.L. Rogers, E. Hatonen, J.J. Owens, D.H. |
Copyright Year | 2004 |
Abstract | This paper is concerned with the practical implementation of the norm-optimal iterative learning control (NOILC) algorithm. Here, the complexity of this algorithm is first considered with respect to real-time control applications, and a new modified version, fast norm-optimal ILC (F-NOILC), is derived for this application, which potentially allows implementation with a sampling rate three times faster that the original algorithm. A performance index is used to assess the experimental results obtained from applying F-NOILC to an industrial gantry robot system and, in particular, the effects of varying the parameters in the cost function, which is at the heart of the norm-optimal approach |
Sponsorship | IEEE Robotics and Automation Society |
Starting Page | 1303 |
Ending Page | 1307 |
Page Count | 5 |
File Size | 377429 |
File Format | |
ISSN | 15523098 |
Volume Number | 22 |
Issue Number | 6 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2006-12-01 |
Publisher Place | U.S.A. |
Access Restriction | One Nation One Subscription (ONOS) |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robotics and automation Automatic control Signal processing algorithms Iterative algorithms Cost function Frequency Sampling methods Service robots Trajectory Optimal control signal processing Iterative control iterative methods learning control real-time control |
Content Type | Text |
Resource Type | Article |
Subject | Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications |
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