AN ITERATIVE LEARNING CONTROL SCHEME AND ITS APPLICATION TO ROBOTIC MANIPULATORS

In this paper an iterative learning control scheme is proposed.The stability criterion of the scheme is proved by using Banach Fixed-Point Theorem.From the view point of “high-gain feedback”,the design of the learning controllers can be transformed into the design of feedback controllers.The problem of using the scheme to control robotic manipulators with three degrees of freedom is considered and the simulation results are given.