Spatial Iterative Learning Control: Output Tracking

Abstract

This paper focuses on tracking spatially repeatable tasks. In addition, these tasks are not necessarily temporally repeatable in the sense that the finite length of the corresponding time interval may change with each repetition. Because of that, the standard Iterative Learning Control (ILC) framework is not directly applicable. Namely, the standing assumption that the finite length of the time interval is fixed with each repetition, is violated. Motivated by human motor learning, this paper proposes a Spatial ILC (SILC) framework which leverages the spatial repeatability. In particular, the concept of spatial projection, closely related to temporal rescaling, is proposed. This allows to spa..