Analysis and simulation of iterative learning control system with switching gain D-type feedback

In order to make robot,which is a strong coupling nonlinear system,quickly achieve trajectory tracking task,we propose an iterative learning control algorithm with switching gain Dtype feedback,and the convergence of this algorithm is analyzed and proved.Besides,combining with an existing robot dynamics model,we make simulations respectively with open loop iterative learning control,closed loop iterative learning control,and iterative learning control with switching gain D-type feedback using MATLAB tools,then the tracking performance and control effect are analyzed comparatively.The results show that this algorithm has better tracking accuracy and faster convergence rate compared to traditional algorithm.It can be used in the highprecision trajectory control for robot.