This paper presents investigations into developing a hybrid iterative learning control scheme with acceleration feedback. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms for optimization of the learning parameters for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme without and with acceleration feedback is assessed in terms of input tracking and level of vibration reduction at resonance modes and robustness to variation in payload.
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