Robust Iterative Learning Control for output tracking via chattering-free sliding mode control technique

This paper is to design a robust Iterative Learning Control (ILC) for the purpose of output tracking. Compared with conventional robust ILC design using sliding mode technique, the proposed robust ILC is chattering-free because an integral-sliding-mode technique is employed to eliminate the chattering caused by the conventional sliding mode control. The convergence of the sliding surface dynamics and the output-tracking error are proved. The effectiveness of the proposed robust ILC is tested on a robotic manipulator model. It exhibits that, with the designed robust ILC, the output-tracking can asymptotically converge to zero; accurate trajectory tracking can therefore achieved.