Summary: Iterative learning control based on quasiNewton methods
Konstantin E. Avrachenkov
School of Mathematics
The University of South Australia
The Levels, SA 5095, Australia
In this paper we propose an iterative learning control
scheme based on the quasiNewton method. The iter
ative learning control is designed to improve the per
formance of the systems working cyclically. We con
sider the general type of systems described by contin
uously differentiable operator acting in Banach spaces.
The sufficient conditions for the convergence of quasi
Newton iterative learning algorithm are provided. In
the second part of the paper we apply this general ap
proach to the motion control of robotic manipulators.
We also recommend to use the conventional feedback
control in addition to the learning control. Finally
some simulation results are presented.