Harbin Institute of Technology

Pengyu Sun

Jiubin Tan

Yang Liu

Fazhi Song

Aichen Wu

A learning control system includes a movement trajectory generation unit, a learning control unit, a feedback control unit, and an uncertainty compensation unit. The movement trajectory generation unit includes a movement trajectory generator; the movement trajectory generator is configured to generate a reference movement trajectory; a position measured signal is subtracted from the reference movement trajectory to obtain a position error signal which is input to the learning control unit; the learning control unit is configured to generate a feed-forward signal which is added with the position error signal to obtain a corrected error signal; and the corrected error signal is input to the feedback control unit; the feedback control unit includes a feedback controller configured to generate a feedback control quantity which is input to the uncertainty compensation unit; and the uncertainty compensation unit is configured to generate the position measured signal.

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Harbin, China

Pengyu Sun