Tracking control of mobile robot based on iterative learning control

Abstract

To improve the repetitive tracking capability of mobile robot for the specific trajectory, the open-closed-loop PD-type iterative learning control algorithm is presented to track its trajectory. The kinematic model of wheeled mobile robot is established under the interference conditions with nonholonomic constraints. The control system algorithm and structure are presented. Simulation results show that the use of open-closed-loop PD-type iterative learning control algorithm for trajectory tracking is feasible, effective, and the convergence rate is superior to other iterative learning algorithm.