Biologically-Inspired Iterative Learning Control Design: A Modular-Based Approach

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.