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An adaptive iterative learning control algorithm with experiments on an industrial robot

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1 Author(s)
Norrlof, M. ; Dept. of Electr. Eng., Linkoping Univ., Sweden

An adaptive iterative learning control (ILC) algorithm based on an estimation procedure using a Kalman filter and an optimization of a quadratic criterion is presented. It is shown that by taking the measurement disturbance into consideration the resulting ILC filters become iteration-varying. Results from experiments on an industrial robot show that the algorithm is successful also in an application

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Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 2 )