Constrained Iterative Learning Control for Linear Time-Varying Systems With Experimental Validation on a High-Speed Rack Feeder

Iterative learning control (ILC) applies to systems required track the desired trajectory of finite duration repeatedly. This article considers constrained ILC design for linear time-varying systems, a problem with limited, in relative terms, results literature but not uncommon practical applications. Different algorithms are developed, and their convergence properties established. An extension these designs point-to-point tracking tasks is given. A high-speed rack feeder typically used automated warehouses considered verify designs. It represents flexible beam structure subject kinematic constraints, such as maximum velocity acceleration vertically moving mass causing characteristics. Experimental demonstrate effectiveness