A Novel Design Framework for Point-to-Point ILC Using Successive Projection


A unique design approach is proposed for point-to-purpose iterative learning control (ILC), enabling system constraints to be satisfied while simultaneously addressing the necessity for top-performance tracking. It's shown that time-to-point ILC design will be formulated and solved employing a successive projection first proposed by J. von Neumann, allowing a range of new purpose-to-point ILC algorithms to be developed and analyzed. To illustrate this framework, two new algorithms are derived with completely different convergence and computational properties for the constrained purpose-to-purpose ILC design drawback. The proposed algorithms are validated on a robotic arm with experimental results demonstrating their effectiveness.

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