, Volume 42, Issue 2, pp 167–175 | Cite as

Spatial-based iterative learning control for motion control applications

  • Kevin L. Moore
  • Mohua Ghosh
  • Yang Quan Chen
Original Paper


For many motion control applications spatial constraints are often more important than temporal constraints. In recent work, we have developed a spatial control strategy called the ε-controller for mobile robot applications. The control strategy is based solely on static path geometry with position (in space) feedback. Motivated by this idea, in this paper, we consider the notion of spatial-based iterative learning control (ILC). Specifically, we consider repetitive operation problems where corrections are made to the control signal from trial to trial. Unlike traditional ILC, however, which updates control signals based on the time elapsed along a trajectory, we instead make updates based on path errors and progress along the path. The idea is demonstrated via simulation for a system with bang–bang velocity control. Experimental results using a high-precision, two-axis gimbal mechanism are presented to show the effectiveness of the strategy.


Iterative learning Motion control Spatial control Mechanics of machines 


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Copyright information

© Springer Science+Business Media, Inc. 2007

Authors and Affiliations

  1. 1.Division of EngineeringColorado School of MinesGoldenUSA
  2. 2.Center for Self-Organizing and Intelligent Systems (CSOIS)Utah State UniversityLoganUSA

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