非完整移动机器人的迭代学习控制

Iterative Learning Control of Nonholonomic Mobile Robots

首先针对迭代初态偏移期望初态的情况,利用构造期望轨迹的办法给出了基于相对阶的迭代学习控制算法,然后借助于压缩映射原理与Gronwall-Bellman不等式给出了算法收敛性的证明。最后将得到的迭代学习控制律应用于非完整移动机器人的跟踪控制问题。MATLAB仿真结果表明了所给控制算法的有效性。

Under the condition that the initial condition of iterative learning control（ILC） is not equal to the initial condition of reference trajectory,this paper presented a tracking algorithm based on ILC with relative degree and analyzed the convergence of this algorithm.Then,the tracking problem of Nonholonomic mobile robots is considered by using the proposed methodology.Simulation results using MATLAB illustrated effectiveness of the proposed algorithm.