Biologically-inspired iterative learning control design: a modular-based approach

Hobson, Daniel, Chu, Bing and Cai, Xiaohao (2024) Biologically-inspired iterative learning control design: a modular-based approach. In 2024 UKACC 14th International Conference on Control (CONTROL). IEEE. pp. 175-176 . (doi:10.1109/CONTROL60310.2024.10531909).

Record type: Conference or Workshop Item (Paper)

Abstract

Iterative learning control is a feedforward control scheme designed for systems operating in a repetitive setting to achieve high performance tracking for a single fixed reference, with fast learning of a control signal often only achieved when an accurate model of the system is known. On the other hand, biological control systems achieve fast learning without accurate a priori modelling, by learning dynamics and control signals simultaneously. Sensorimotor control studies the motion of humans and animals, and a key observation from this field is that a modular structure facilitates the generalisation of learnt skill, which inspires a new modular approach to iterative learning control design that accurately tracks trial-varying references.

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