Trajectory tracking control for a nonholonomic mobile robot using an improved ILC

Ruidong Xi, Yangmin Li, Xiao Xiao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

14 Citations (Scopus)

Abstract

This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter we can obtain the best learning rule. From the simulation results we find that the system outputs and control inputs are bounded to converge to the desired values. The MATLAB software is used for simulation to verify the feasibility and validity of the proposed learning algorithm.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Information and Automation, ICIA 2014
PublisherIEEE
Pages830-835
Number of pages6
ISBN (Electronic)9781479941001
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China
Duration: 28 Jul 201430 Jul 2014

Conference

Conference2014 IEEE International Conference on Information and Automation, ICIA 2014
CountryChina
CityHailar, Hulunbuir
Period28/07/1430/07/14

Keywords

  • iterative learning control
  • nonholonomic mobile robot
  • Trajectory tracking

ASJC Scopus subject areas

  • Modelling and Simulation

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