Generalized Norm Optimal Iterative Learning Control: Constraint Handling

This paper proposes a novel control methodology to incorporate constraint handling within generalized iterative learning control (ILC), an overarching methodology which includes intermediate point and sub-interval tracking as special cases. The constrained generalized ILC design objective is first described, and then the design problem is formulated into a successive projection framework. This framework yields a constrained generalized ILC algorithm which embeds system input and output constraints. Convergence analysis of the algorithm is performed and supported by rigorous proofs. The algorithm is verified using a gantry robot experimental platform, whose results reveal its practical efficacy and robustness against plant uncertainty.