An improved iterative learning controller for trajectory tracking of manipulator

Basic PD type iterative learning control algorithm has been applied to repeat control of trajectory tracking of manipulator. However, existing iterative learning control algorithm doesn´t consider the effet of time delay between controller and actuator and between sensor and controller. Because of the existence of time delay, the system using PD type iterative learning control algorithm cann´t keep stable. So the control quantity of the last iteration is attenuated, and an improved PD type iterative learning control algorithm is presented. The simulation results show the effectivity of the proposed method.