Point-to-point iterative learning control with optimal tracking time allocation

This paper proposes a novel design methodology that embeds optimal tracking time allocation within the point-to-point iterative learning control framework, thereby enabling significant reduction in the input energy required to follow a given point-to-point motion trajectory. The problem is formulated into an optimisation framework for which a two stage design approach is developed based on gradient method minimisation. Experimental results from a practical implementation of the proposed methodology using a gantry robot experimental test platform demonstrate its effectiveness.