Tracking control of mobile robot based on iterative learning control

Computer Engineering and Applications ›› 2012, Vol. 48 ›› Issue (9): 222-225.

• 工程与应用 • Previous Articles Next Articles

Tracking control of mobile robot based on iterative learning control

PEI Jiufang1，2, WANG Hai1，2, XU Dezhang1，2

1.School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China
2.Anhui Key Lab of Advanced Numerical Control & Servo Technology, Wuhu, Anhui 241000, China

Received:1900-01-01 Revised:1900-01-01 Online:2012-03-21 Published:2012-04-11

基于迭代学习控制的移动机器人轨迹跟踪控制

裴九芳1，2，王海1，2，许德章1，2

1.安徽工程大学机械与汽车工程学院，安徽芜湖 241000
2.先进数控和伺服驱动技术安徽省重点实验室，安徽芜湖 241000

Abstract

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.

Key words: mobile robot, kinematics, tracking control, iterative learning control

摘要： 为提高移动机器人对特定轨迹的重复跟踪能力，提出了采用开闭环PD型迭代学习控制算法对移动机器人进行轨迹跟踪控制的方法。建立了包含外界干扰的非完整约束条件下的轮式移动机器人运动学模型，给出了系统的控制算法和控制结构。仿真结果表明，采用开闭环PD型迭代学习控制算法对轨迹跟踪是可行有效的，收敛速度优于其他迭代学习算法。

关键词: 移动机器人, 运动学, 轨迹跟踪控制, 迭代学习控制

PEI Jiufang1，2, WANG Hai1，2, XU Dezhang1，2. Tracking control of mobile robot based on iterative learning control[J]. Computer Engineering and Applications, 2012, 48(9): 222-225.

裴九芳1，2，王海1，2，许德章1，2. 基于迭代学习控制的移动机器人轨迹跟踪控制[J]. 计算机工程与应用, 2012, 48(9): 222-225.

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Tracking control of mobile robot based on iterative learning control

基于迭代学习控制的移动机器人轨迹跟踪控制

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