Adaptive Terminal ILC for Iteration‐varying Target Points

Terminal iterative learning control (TILC) has been developed to reduce the error between system output and a fixed desired point at the terminal end of operation interval over iterations. In this work, the desired terminal point is not fixed but allowed to change run‐to‐run among a set of fixed points and a new adaptive terminal iterative learning control scheme is developed to achieve learning objective over iterations. The control signal is updated from the measured terminal value at the end of a run, instead of the whole output trajectory. Although the reference terminal point is iteration‐varying, the new adaptive TILC guarantees that the tracking error converges to zero iteratively. Both rigorous mathematical analysis and simulation results confirm the applicability and effectiveness of the proposed approach.