计算机工程与应用2012，Vol.48Issue(9)：222-225,4.DOI:10.3778/j.issn.1002-8331.2012.09.063
基于迭代学习控制的移动机器人轨迹跟踪控制
Tracking control of mobile robot based on iterative learning control
摘要
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.关键词
移动机器人/运动学/轨迹跟踪控制/迭代学习控制Key words
mobile robot/ kinematics/ tracking control/ iterative learning control分类
信息技术与安全科学引用本文复制引用
裴九芳,王海,许德章..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):222-225,4.基金项目
安徽省自然科学基金(No.11040606M144) （No.11040606M144）
安徽高等学校省级自然科学研究项目(No.KJ2009B009). （No.KJ2009B009）
