A Modified Trajectory Tracking Algorithm Based on ILC for Mobile Robots

Author

Shao Hua ; Chen Yimei

Author_Institution

Sch. of Electr. Eng. & Autom., Tianjin Polytech. Univ., Tianjin, China

fYear

2010

fDate

22-23 June 2010

Firstpage

312

Lastpage

315

Abstract

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, a modified Iterative Learning Control (ILC) algorithm based on the kinematics model is presented in this paper. The idea of the Model Algorithmic Learning Law is introduced to the classical open-closed loop ILC, which can improve the effect of the control law. The convergence of the new algorithm is demonstrated in the paper and it is shown from the simulation experiments that the method presented in this paper can achieve a better robot trajectory tracking performance compared with the traditional one.

Keywords

adaptive control; closed loop systems; iterative methods; learning systems; mobile robots; open loop systems; position control; robot kinematics; wheels; classical open-closed loop ILC; iterative learning control algorithm; kinematics model; model algorithmic learning law; robot trajectory tracking performance; trajectory tracking algorithm; wheeled mobile robot; Automation; Convergence; Mobile robots; Robot kinematics; Trajectory; Iterative Learning Control; mobile robots; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computing and Cognitive Informatics (ICICCI), 2010 International Conference on

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-4244-6640-5

Electronic_ISBN

978-1-4244-6641-2

Type

conf

DOI

10.1109/ICICCI.2010.46

Filename

5565970