Conference Proceedings

Trajectory Redundancy Iterative Learning Control

Shou-Han Zhou, Ying Tan, Bai Zhao, Denny Oetomo

2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013) | IEEE | Published : 2013

Abstract

For tasks which require a robot to track some particular points along a trajectory (instead of the whole trajectory), there exists redundancy. This redundancy results in an increase in the feasibility in the controller design, enabling the possibility of the robot to obtain better performance by satisfying secondary objectives whilst performing the primary objective of tracking the target points. This paper addresses the task redundancy by using point-to-point learning control. It is shown to be an effective tool to accommodate trajectory redundancy since it has the ability to fully explore the increased feasibility resulting from such redundancy. Following the similar idea widely used in ki..

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