Point-to-point ILC with Accelerated Convergence

This paper proposes a novel point-to-point iterative learning control (ILC) algorithm for high performance trajectory tracking applications. Based on a successive project formulation of the point-to-point ILC design problem, two point-to-point ILC design algorithms are derived: one algorithm recovers the norm optimal point to point ILC algorithm with a desirable physical property of converging to the minimum norm (energy) solution, and the other one (interestingly) accelerates convergence speed which could lead to significant reduction in system configuration time/cost. Numerical results are provided to demonstrate the proposed algorithms' effectiveness.