Summary: Iterative learning control based on quasi­Newton methods
Konstantin E. Avrachenkov
School of Mathematics
The University of South Australia
The Levels, SA 5095, Australia
e­mail: matkea@zarniwoop.levels.unisa.edu.au
Abstract
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.

Source: Avrachenkov, Konstantin - INRIA Sophia Antipolis

Collections: Computer Technologies and Information Sciences