Title :
An iterative learning control method for tracking problem of mobile robots
Author :
Wang Zhuping ; Wang Rui
Author_Institution :
Coll. of Electron. & Inf. Eng., Tongji Univ., Shanghai, China
Abstract :
This paper proposes an iterative learning control (ILC) method for tracking problem of a mobile robot. The method is based on the theory of open-closed loop of ILC. A theoretical proof of convergences is given accordingly in the case of the proposed system. Simulation results show the effectiveness of the proposed method.
Keywords :
closed loop systems; iterative methods; learning systems; mobile robots; open loop systems; iterative learning control method; mobile robots; open-closed loop theory; tracking problem; Convergence; Electronic mail; Iterative methods; MATLAB; Mobile robots; Robustness; Iterative Learning Control; Mobile robot; Open-closed Loop ILC;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
