Iterative learning control based on quasi-Newton methods

In this paper we propose an iterative learning control scheme based on the quasi-Newton method. The iterative learning control is designed to improve the performance of the systems working cyclically. We consider the general type of systems described by continuously 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 approach 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.